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This document discusses the kinematics of robotic manipulators. It provides examples of assigning reference frames to the links of 3 degree-of-freedom planar and non-planar robotic arms. It also derives the transformation matrices relating the different reference frames and defines a procedure to compute the kinematics of a cylindrical robotic arm using four multiplication operations and one square root operation, totaling 21 multiplication times.

Author

김채현

Language

EN