Name
Abstract | ||
|---|---|---|
An algorithm is proposed that automatically generates the Denavit-Hartenberg (DH) kinematic parameters of a reconfigurable manipulator. The DH kinematic parameters are then used to obtain the forward kinematic transformation of the system. The authors also address the problem of obtaining the inverse kinematics of reconfigurable manipulators. To automate the inverse kinematics and to make the procedure as general as possible, they use a numerical approach. In the case of a redundant manipulator they utilize the extra degrees of freedom to achieve singularity avoidance |
Year | DOI | Venue |
|---|---|---|
1988 | 10.1109/ROBOT.1988.12135 | ICRA |
Keywords | Field | DocType |
kinematics,numerical methods,robots,denavit-hartenberg,forward kinematic transformation,inverse kinematics,kinematic parameters,reconfigurable modular manipulator system,redundant manipulator,singularity avoidance,robustness,prototypes,denavit hartenberg,degree of freedom | Kinematics equations,Kinematics,Inverse kinematics,321 kinematic structure,Control theory,Robot kinematics,Control engineering,Modular design,Engineering,Robot,Kinematic chain | Conference |
Volume | Issue | Citations |
1988 | 1 | 35 |
PageRank | References | Authors |
7.44 | 4 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kelmar, L. | 1 | 35 | 7.44 |
| Khosla, P.K. | 2 | 931 | 123.84 |