Kinematics of Complex Robotic Mechanical Systems
Current robotic mechanical systems, encountered not only in research laboratories but also in production or construction environments, include features that deserve a chapter apart. Generically, we will call here complex robotic mechanical systems all such systems that do not fall in the category of those studied in Chapter 4. Thus, the complex systems at hand are manipulators either of (i) the serial type that do not allow a decoupling of the positioning and the orientation problems, or (ii) of the parallel type, besides other systems than manipulators, such as dextrous hands, walking machines, and rolling robots. While redundant manipulators of the serial type fall within this category as well, we will leave these aside, for their redundancy resolution calls for a more specialized background than what we have either assumed or given here.
KeywordsParallel Manipulator Inverse Kinematic Spherical Joint Joint Rate Inverse Kinematic Problem
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