Title :
Locating the wrist of an elbow-type manipulator
Author :
Crochetiere, W.J.
Author_Institution :
GTE Labs. Inc., Waltham, MA, USA
Abstract :
An elbow-type manipulator with a shoulder offset may assume a given wrist position in as many as four different configurations (shoulder right/left, elbow up/down). The inverse kinematic solution that defines each of these configurations for a PUMA 560 robot arm is derived trigonometrically. This solution is also compared with a previously reported solution (see ibid., vol.11, no.6, p.449-55, June 1981).
Keywords :
kinematics; position control; robots; PUMA 560 robot arm; elbow-type manipulator; inverse kinematic solution; shoulder offset; wrist position; Elbow; Equations; Kinematics; Manipulators; Uncertainty; Wrist;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1984.6313245
