Belzile, Bruno and 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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