Kinematics of Serial Manipulators

IF 1.3 Q4 AUTOMATION & CONTROL SYSTEMS

International Journal of Automation and Control Pub Date : 2020-07-11 DOI:10.5772/intechopen.93138

Ivan Virgala, M. Kelemen, E. Prada

引用次数: 1

Abstract

This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area of manipulators kinematics. Subsequently, the rigid body motion is presented and basic mathematical apparatus is introduced. Based on rigid body conventions, the forward kinematic model is established including one of the most used approaches in robot kinematics, namely the Denavit-Hartenberg convention. The last section of the chapter analyzes inverse kinematic modeling including analytical, geometrical, and numerical solutions. The chapter offers several examples of serial manipulators with its mathematical solution.

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串联机械臂运动学

这本书的章节涉及系列机器人操纵器(开链多体系统)的运动学建模，重点是向前以及逆运动学模型。首先，本章描述了机械臂运动学领域的基本重要定义。接着，介绍了刚体运动，并介绍了基本的数学装置。在刚体约定的基础上，建立了包含机器人运动学中最常用的方法之一Denavit-Hartenberg约定的正运动学模型。本章的最后一部分分析了逆运动学建模，包括解析解、几何解和数值解。本章提供了几个串行操纵器的例子及其数学解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Automation and Control AUTOMATION & CONTROL SYSTEMS-

自引率

41.70%

发文量

期刊介绍： IJAAC addresses the evolution and realisation of the theory, algorithms, techniques, schemes and tools for any kind of automation and control platforms including macro, micro and nano scale machineries and systems, with emphasis on implications that state-of-the-art technology choices have on both the feasibility and practicability of the intended applications. This perspective acknowledges the complexity of the automation, instrumentation and process control methods and delineates itself as an interface between the theory and practice existing in parallel over diverse spheres. Topics covered include: -Control theory and practice- Identification and modelling- Mechatronics- Application of soft computing- Real-time issues- Distributed control and remote monitoring- System integration- Fault detection and isolation (FDI)- Virtual instrumentation and control- Fieldbus technology and interfaces- Agriculture, environment, health applications- Industry, military, space applications