scholarly journals Robot Arm Kinematics Learning Using Point Plotter

2019 ◽  
Author(s):  
Ahsan Muzakki ◽  
Arif Widodo ◽  
Nur Kholis
Keyword(s):  
Robot Arm ◽  
Arm Kinematics ◽  
Kinematics Learning

Robot Arm Kinematics

2021 ◽  
pp. 191-226
Author(s):  
Peter Corke
Keyword(s):  
Robot Arm ◽  
Arm Kinematics

Principles on the Development of Mechanical Hands Which Can Manipulate Objects by Means of Active Control

1985 ◽  
Vol 107 (2) ◽  
pp. 148-156 ◽  
Author(s):  
P. Datseris ◽  
W. Palm
Keyword(s):  
Active Control ◽  
Degrees Of Freedom ◽  
Kinematics And Dynamics ◽  
Kinematic Structure ◽  
Robot Arm ◽  
Transformation Matrices ◽  
Arm Kinematics ◽  
Methods Of Analysis ◽  
Mechanical Hands

A methodology based on kinematic structure concepts is described in this paper for development of mechanical hands which can manipulate objects in a controlled fashion. Although articulated mechanical hands were considered, emphasis was placed on nonanthropomorphic novel concepts (reference [19]) with decoupled output motions. Appropriate classes of objects can be manipulated in five degrees of freedom—three translations and two rotations. This emphasis on designs with decoupled degrees of freedom has resulted in a controllable hand design with maximum manipulative capabilities. Since the motions are decoupled, they can be chosen as to obtain any subset of desired motions. Kinematics and dynamics of these mechanical hands can be studied [33] by homogeneous transformation matrices (4×4), methods similar to those employed for robot arm kinematics and dynamics, thus, unifying methods of analysis and simplifying the arm–hand interface.

Sign in / Sign up

Export Citation Format

Share Document