Robot Arm Kinematics
A mechanical manipulator can modeled as an open-loop articulated chain with several rigid bodies (links) connected in series by either revolute or prismatic joints driven by actuators.One end of the chain is attached to a supporting base while teh other end attached with a tool (end -effector) to manipulate objects or perform assembly tasks.The relative motion of the joints results in the motion of the links that positions the hand in desired orientation.In most ofthe robotics applications ,one is interested inthe spatial description of the end-effector of the manipulator with respect to a fixed co-ordinate system.
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