Kinematics and trajectory synthesis of manipulation robots
type: Item
instance of: scholarly article
title: Kinematics and trajectory synthesis of manipulation robots
zbMATH Open document ID: 0581.93001
author: M. Kirćanski
author: Miomir Vukobratović
published in: Communications and Control Engineering
publication date: 1986-01-01T00:00:00Z
review text: This is the third text in the series 'Scientific Fundamentals of Robotics,' published by Springer-Verlag. The first two books dealt with the dynamics and control of manipulation robots respectively. The third book is mostly concerned with manipulator kinematics. Efficient methods for evaluating the symbolic kinematic models and the motion generation algorithms for nonredundant and redundant manipulators are presented. Roboticists who have read the research papers in the field of kinematics over the last decade by the authors will find much that is familiar in this text. Although the work is also intended to provide teaching material for postgraduate robotics courses, the monographic nature of the work and the mathematical notations make the text more suitable as a specialist reference text than as a recommendable reading in the general area of robot kinematics and trajectory synthesis. Similarly to the previous two books of the series, a great number of the references is either from the Eastern Block or by Vukobratovic and his co-authors. The book is organized into 6 chapters. Chapter 1 contains the basic kinematic relations to describe manipulator position and orientation. Two methods for kinematic modeling are outlined. The first method is based on Rodriguez' formula describing a finite rotation of a rigid body about a fixed axis, while the second approach uses the more widely adopted homogeneous transformations based on Denavit-Hartenberg kinematic notation. Cartesian, spherical and cylindrical coordinates are adopted to describe the end-effector position. Euler angles and Euler parameters are used for the end-effector orientation. Jacobian matrices relating linear and angular velocities of the end-effector to joint velocities are also derived. In chapter 2 a method for the automatic, computer-aided generation of the symbolic kinematic equations and of the Jacobian matrices for an arbitrary serial-link manipulator is presented. The goal is to obtain a minimal num…
Mathematics Subject Classification ID: 93-02
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93B50
Mathematics Subject Classification ID: 68U20
Mathematics Subject Classification ID: 93C15
zbMATH DE Number: 3930804
zbMATH Keywords: manipulator kinematics
zbMATH Keywords: kinematic modeling
zbMATH Keywords: serial-link manipulator
zbMATH Keywords: inverse kinematic problem
zbMATH Keywords: motion generation
zbMATH Keywords: trajectory synthesis
MaRDI profile type: Publication
description: scientific article; zbMATH DE number 3930804