Kinematics of Manipulators on a Fixed Base

  • Pål Johan From
  • Jan Tommy Gravdahl
  • Kristin Ytterstad Pettersen
Part of the Advances in Industrial Control book series (AIC)


Fixed-base manipulators are composed of several rigid bodies attached together in a chain in such a way that the relative motion between two consecutive rigid bodies is restricted by the admissible motions of the joints, often to a very simple one degree of freedom linear or rotational motion. The main objective of the kinematics study is to find the position and velocity of the last link given the position and velocity of each joint in the robotic chain. The inverse of this problem is also important in robot modeling and control.

This chapter serves as an introduction to robotic manipulators. Readers not previously familiar with this topic can use this chapter, together with the previous chapters, as an introductory course to robotic manipulator modeling. It is written so that it can be used as course literature in an introductory course on robotic manipulators. For readers already familiar with robotics the chapter gives a mathematical robust treatment using important results from Lie theory and differential geometry, normally not found in robotics textbooks.


Inertial Frame Joint Position Revolute Joint Robotic Manipulator Joint Velocity 
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  • Pål Johan From
    • 1
  • Jan Tommy Gravdahl
    • 2
  • Kristin Ytterstad Pettersen
    • 2
  1. 1.Department of Mathematical Sciences and TechnologyNorwegian University of Life SciencesÅsNorway
  2. 2.Department of Engineering CyberneticsNorwegian Univ. of Science & TechnologyTrondheimNorway

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