ANALYSIS OF THE GENERAL 4R AND 5R ROBOTS USING A VECTOR ALGEBRAIC APPROACH

Authors
ZHOU YB BUCHAL RO FENTON RG
Citation
Yb. Zhou et al., ANALYSIS OF THE GENERAL 4R AND 5R ROBOTS USING A VECTOR ALGEBRAIC APPROACH, Mechanism and machine theory, 30(3), 1995, pp. 421-432
Citations number
9
Categorie Soggetti
Engineering, Mechanical
Journal title
Mechanism and machine theory → ACNP
ISSN journal
0094114X
Volume
30
Issue
3
Year of publication
1995
Pages
421 - 432
Database
ISI
SICI code
0094-114X(1995)30:3<421:AOTG4A>2.0.ZU;2-N
Abstract
The forward and inverse kinematic problems of the general 4R and 5R se rial robots are analyzed using a vector algebraic method. The displace ment equations of the general 4R and 5R robots are obtained as first a nd eighth order polynomials, respectively. The approach in this paper is shown to be simpler than other related approaches.