Differential kinematics of serial manipulators using virtual chains

Detalhes bibliográficos
Autor(a) principal: Campos,A.
Data de Publicação: 2005
Outros Autores: Guenther,R., Martins,D.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782005000400002
Resumo: This paper presents a new approach to calculate the direct and inverse differential kinematics for serial manipulators. The approach is an extension of the Davies method for open kinematic chains based on a virtual kinematic chain concept introduced in this paper. It is a systematic method that unifies the kinematics of serial manipulators considering the type of kinematics and the coordinate system of the operational space and constitutes an alternative way to solve the differential kinematics for manipulators. The usefulness of the method is illustrated by applying it to an industrial robot.
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spelling Differential kinematics of serial manipulators using virtual chainsRobot analysidifferential kinematicsscrew theoryThis paper presents a new approach to calculate the direct and inverse differential kinematics for serial manipulators. The approach is an extension of the Davies method for open kinematic chains based on a virtual kinematic chain concept introduced in this paper. It is a systematic method that unifies the kinematics of serial manipulators considering the type of kinematics and the coordinate system of the operational space and constitutes an alternative way to solve the differential kinematics for manipulators. The usefulness of the method is illustrated by applying it to an industrial robot.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2005-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782005000400002Journal of the Brazilian Society of Mechanical Sciences and Engineering v.27 n.4 2005reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782005000400002info:eu-repo/semantics/openAccessCampos,A.Guenther,R.Martins,D.eng2006-01-02T00:00:00Zoai:scielo:S1678-58782005000400002Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2006-01-02T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv Differential kinematics of serial manipulators using virtual chains
title Differential kinematics of serial manipulators using virtual chains
spellingShingle Differential kinematics of serial manipulators using virtual chains
Campos,A.
Robot analysi
differential kinematics
screw theory
title_short Differential kinematics of serial manipulators using virtual chains
title_full Differential kinematics of serial manipulators using virtual chains
title_fullStr Differential kinematics of serial manipulators using virtual chains
title_full_unstemmed Differential kinematics of serial manipulators using virtual chains
title_sort Differential kinematics of serial manipulators using virtual chains
author Campos,A.
author_facet Campos,A.
Guenther,R.
Martins,D.
author_role author
author2 Guenther,R.
Martins,D.
author2_role author
author
dc.contributor.author.fl_str_mv Campos,A.
Guenther,R.
Martins,D.
dc.subject.por.fl_str_mv Robot analysi
differential kinematics
screw theory
topic Robot analysi
differential kinematics
screw theory
description This paper presents a new approach to calculate the direct and inverse differential kinematics for serial manipulators. The approach is an extension of the Davies method for open kinematic chains based on a virtual kinematic chain concept introduced in this paper. It is a systematic method that unifies the kinematics of serial manipulators considering the type of kinematics and the coordinate system of the operational space and constitutes an alternative way to solve the differential kinematics for manipulators. The usefulness of the method is illustrated by applying it to an industrial robot.
publishDate 2005
dc.date.none.fl_str_mv 2005-12-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782005000400002
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782005000400002
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S1678-58782005000400002
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.source.none.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering v.27 n.4 2005
reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
collection Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
repository.name.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv ||abcm@abcm.org.br
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