Locating the wrist of an elbow-type manipulator
- 1 May 1984
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. SMC-14 (3) , 497-499
- https://doi.org/10.1109/TSMC.1984.6313245
Abstract
An elbow-type manipulator with a shoulder offset may assume a given wrist position in as many as four different configurations (shoulder right/left, elbow up/down). The inverse kinematic solution that defines each of these configurations for a PUMA 560 robot arm is derived trigonometrically. This solution is also compared with a previously reported solution (see ibid., vol.11, no.6, p.449-55, June 1981).Keywords
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