Abstract
This paper presents a synthesis procedure for a two-degree-of-freedom spatial RR chain to reach an arbitrary end-effector trajectory. Spatial homogeneous transforms are mapped to 4 × 4 rotations and interpolated as double quaternions. Each set of three spatial positions obtained from the interpolated task is used to define an RR chain. The RR chain that best fits the trajectory is the desired robot. The procedure yields a unique robot independent of the coordinate frame defined for the task.
Cite
CITATION STYLE
Perez, A., & McCarthy, J. M. (2000). Dimensional Synthesis of Spatial RR Robots. In Advances in Robot Kinematics (pp. 93–102). Springer Netherlands. https://doi.org/10.1007/978-94-011-4120-8_10
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
