Title :
Reversed Recursive Transformation for Forward Kinematics of Articulated Robotic Arms
Author :
Hsiang-Lin Tu ; Ping-Ho Chen
Author_Institution :
Dept. of Electr. Eng., Tungnan Univ., Taipei, Taiwan
Abstract :
A reversed recursive formula, based on coordinate transformation using matrix operation is developed for autonomous positioning of end effector while deploying an articulated robotic arm. Kinematics of 3-D translation of a robotic arm may be solved by using this approach rather than a traditional geometric or trigonometric analysis.
Keywords :
end effectors; manipulator kinematics; matrix algebra; position control; 3D translation; articulated robotic arms; autonomous positioning; coordinate transformation; end effector; forward kinematics; matrix operation; reversed recursive transformation; End effectors; Joints; Kinematics; Robot kinematics; Robot sensing systems; Vectors;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.301
