The keypoint of ℓ-coordinates is the specification of a free rigid body’s position and motion in space by 6 distances between the points of the body and the points of the fixed base. The motion equations in the ℓ-coordinates are uniform and expose the six corresponding segment lengths’ time dependence.
This paper covers the ℓ-coordinate design method in the field of robotics mechanical design, controls, sensors and inspection as well as patented technical solutions. The developments are illustrated by an industrial robot with 30 degrees of freedom, a navigational robot with end-effector, six absolute frame coordinates feedback, six component force sensor and a navigational gripper’s path recording system for assessment and diagnostics.
The application of the ℓ-coordinate developments in robotics are capable of further advances.
KeywordsIndustrial Robot Spherical Joint Ball Joint Relay Control Absolute Frame
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