Title

New general algorithm for describing manipulator kinematics

RIS ID

60099

Publication Details

Cook, C. D. & Vu-Dinh, T. (1985). New general algorithm for describing manipulator kinematics. Transactions of the Institution of Engineers, Australia. Mechanical Engineering, ME 10 (3), 169-174.

Abstract

A new algorithm for representing the kinematic problem of robot arms is presented, and its advantages discused. It is shown that manipulator links and joints can be described using generalised cascaded 'robot joint descriptors'. Such a description provides a theoretical basis for the development of a kinematic controller applicable to most manipulator geometries.

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