![]() ![]() Locomotion is the process of causing a rigid body to move. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator. The kinematics solution has been verified by solving the manipulator’s motion. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. This reduces the time of analysing the manipulator kinematically. Using this approach, the inverse kinematic problem is divided into two small less complex problems. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. The manipulator contains six revolution joints. The Comau NM45 Manipulator has been chosen for the kinematic model study. The articulated robot with a spherical wrist has been used for this purpose. The aim of the paper is to study the kinematics of the manipulator. ![]()
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