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

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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Résumé

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

Type de document:	Chapitre de livre
ISBN:	978-981-19-1983-1
Éditeurs:	Éditeurs ORCID Herath, Damith NON SPÉCIFIÉ St-Onge, David NON SPÉCIFIÉ
Professeur:	Professeur St-Onge, David
Affiliation:	Génie mécanique
Date de dépôt:	27 sept. 2022 13:59
Dernière modification:	26 oct. 2022 14:49
URI:	https://espace2.etsmtl.ca/id/eprint/25419

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