About this document
Manipulator Kinematics Overview by KarthikeyanRamanujam is a document available to read on EtoBox.
Kinematics is the study of motion without regard to forces. It examines position, velocity, and acceleration. A manipulator can be modeled as a series of rigid links connected by joints. The links are numbered starting from the fixed base. Denavit-Hartenberg parameters define the geometry between two joints and links using: link length (a), link twist (α), link offset (d), and joint angle (θ). Transformations between frames attached to each link allow determining the forward kinematics by multiplying the in
- Author
- KarthikeyanRamanujam
- Language
- EN