alexa The Generalized Architecture of the Spherical Serial Manipulator

OMICS International organises 3000+ Global Conferenceseries Events every year across USA, Europe & Asia with support from 1000 more scientific societies and Publishes 700+ Open Access Journals which contains over 50000 eminent personalities, reputed scientists as editorial board members.

The Generalized Architecture of the Spherical Serial Manipulator

It is well known that the inverse kinematics problem for the spherical serial manipulator has been solved in the past by diverse methods; but this problem for a generalized architecture based on the Denavit-Hartenberg parameters has not been treated. Therefore, this paper considers such treatment in a geometric analysis to derive a closed-form solution of the inverse kinematics problem, whose algorithm is validated by simulating pick and place operations.

 
  • Share this page
  • Facebook
  • Twitter
  • LinkedIn
  • Google+
  • Pinterest
  • Blogger