Abstract
Equations for the kinematic analysis of serial mechanisms are introduced. In order to reduce the necessary numerical computations, they are expressed in the form of iterative procedures. The direct and the inverse kinematics problems are formulated and solved. It is shown that in serial mechanisms, the direct kinematics problem is relatively simple to solve, while the inverse kinematics problem includes difficulties associated with the existence of a real solution, with multiple solutions, and with the convergence of iterative numerical procedures.
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Lenarčič, J., Bajd, T., Stanišić, M.M. (2013). Serial Mechanisms. In: Robot Mechanisms. Intelligent Systems, Control and Automation: Science and Engineering, vol 60. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4522-3_3
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DOI: https://doi.org/10.1007/978-94-007-4522-3_3
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