The Inverse Kinematics of Manipulators
The objective of inverse kinematics task is to find all the possible sets of angular or linear displacements (configuration coordinates) in the joints that allow of the end-effector (gripper or tool) of the manipulator to assume a certain position and/or
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Series Editors: The Rectors of CISM Sandor Kaliszky - Budapest Mahir Sayir - Zurich Wilhelm Schneider - Wien The Secretary General of CISM Giovanni Bianchi - Milan Executive Editor Carlo Tasso - Udine
The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics. Purpose of the series is to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International Centre for Mechanical Sciences.
INTERNATION AL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECTURES - No. 402
BASICS OF ROBOTICS THEORY AND COMPONENT S OF MANIPULATORS AND ROBOTS
EDITED BY ADAM MORECKI WARSAW UNIVERSITY OF TECHNOLOGY AND JOZEF KNAPCZYK CRACOW UNIVERSITY OF TECHNOLOGY
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Springer-Verlag Wien GmbH
This volume contains 413 illustrations
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. © 1999 by Springer-Verlag Wien Originally published by Springer-Verlag Wien New York in 1999
SPIN 10730568
In order to make this volume available as economically and as rapidly as possible the authors' typescripts have been reproduced in their original forms. This method unfortunately has its typographical limitations but it is hoped that they in no way distract the reader.
ISBN 978-3-211-83150-2
ISBN 978-3-7091-2532-8 (eBook)
DOI 10.1007/978-3-7091-2532-8
CONTENTS Preface ........................................................................................................................... XI Foreword ........................................................................................................................ 1 Part one THE MECHANICS OF MANIPULATORS AND ROBOTS ....................... 3 1. INTRODUCTION .................................................................................................... 3 1.1. Subjects of research and investigation . .. .. .. .. .. .. .. ... .. ... .. .. .. .. .. .. .. .. .. . .. . .. .. . .. .. . .. .. . .. .. . .. . .. .. .. . 3 1.2. Industrial robotics . .. .. .. .. .. .. .. .. ... .. .. ...... .. .. .... ..... .. ... .. ... .. .. .. .. .. .. . ... . .. . .. ... .. . .. .. .. . .. . .. .. . .. .. . .. .. 6 1.3. References .. . . .. .. .. . ... .. . .. .. .. ... .. .. ... . ... .. .. .. .. .. .. .. .. ... .. ... . ... ... .. .. .. .. . .. .. . .. .. . .. .. . .. . .. .. .. . .. . .. .. . .. .. .. 8
2. BASIC CONCEPTS, DEFINITIONS AND SYSTEMATIZATION OF MANIPULATORS AND ROBOTS ......................................................................... 9 2.1. Definitions ..................................................................................................................... 9 2.2 Kinematic chains of manipulators and robots ................................................................ 12 2.2.1.
