Locating the wrist of an elbow-type manipulator
Abstract
An elbow-type manipulator with a shoulder offset may assume a given wrist position in as many as four different configurations (shoulder right/left, elbow up/down). The inverse kinematic solution that defines each of these configurations for a PUMA 560 robot arm is derived trigonometrically. This solution is also compared to a previously reported solution.
- Publication:
-
IEEE Transactions on Systems Man and Cybernetics
- Pub Date:
- June 1984
- Bibcode:
- 1984ITSMC..14..497C
- Keywords:
-
- Bionics;
- Body Kinematics;
- Manipulators;
- Robotics;
- Trajectory Control;
- Trigonometric Functions;
- Degrees Of Freedom;
- Equations Of Motion;
- Inverse Kinematics;
- Mechanical Drives;
- Position Errors;
- Rotation;
- Three Dimensional Motion;
- Translational Motion;
- Engineering (General)