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How to manipulate? Kinematics, dynamics and architecture of robot arms

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Belzile, Bruno et St-Onge, David. 2022. « How to manipulate? Kinematics, dynamics and architecture of robot arms ». In Foundations of Robotics: A Multidisciplinary Approach with Python and ROS. pp. 265-297. Singapore : Springer Nature Singapore.

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Abstract

Learning Objectives: The objective at the end of this chapter is to be able to: • recognize the architecture and mobilities of a robot arm; • solve the forward and inverse kinematics problem of serial and parallel manipulators; • obtain the Jacobian relating the velocities of the joints to the end-effector; • analyze the Jacobian to obtain the different singularities and understand their physical meaning; • obtain the equations defining the dynamics of a robotic manipulator

Item Type: Book chapter
ISBN: 978-981-19-1983-1
Editors:
Editors
ORCID
Herath, Damith
UNSPECIFIED
St-Onge, David
UNSPECIFIED
Professor:
Professor
St-Onge, David
Affiliation: Génie mécanique
Date Deposited: 27 Sep 2022 13:59
Last Modified: 26 Oct 2022 14:49
URI: https://espace2.etsmtl.ca/id/eprint/25419

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