【内容简介】
A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book introduces the subject of robot manipulators and describes a forward and reverse analysis for serial robot arms. It focuses on closed form solution techniques applied to a broad range of manipulator geometries. Case studies show how the techniques are used in real engineering applications. The book will be useful to students and engineers working in the field of robotics.
【目次】
Preface Introduction Coordinate transformations Manipulator kinematics Forward kinematic analysis Reverse kinematic analysis problem statement Spherical closed-loop mechanisms Displacement analysis of group
1. spatial mechanisms Group
2. spatial mechanisms Group
3. spatial mechanisms Group
4. spatial mechanisms Case studies Quaternions Appendix References Index Table of Contents provided by Publisher. All Rights Reserved.