11 Introduction to Robotic Manipulators

DOI: 10.1201/9781003316961-11

CONCEPT OVERVIEW

In this chapter, the reader will gain a central understanding regarding

  1. Distinctions and disadvantages of robotic manipulators in comparison to classical linkages
  2. Matrix-based formulation of displacement equation systems for Cartesian, cylindrical, spherical, articulated, and SCARA robots
  3. Forward kinematics of Cartesian, cylindrical, spherical, articulated, and SCARA robots
  4. Inverse kinematics and workspace of Cartesian, cylindrical, spherical, articulated, and SCARA robots

11.1 Introduction

As explained in Chapter 1 and demonstrated throughout this textbook, a linkage (also commonly called a mechanism) is an assembly of links and joints where the motion ...

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