This chapter is devoted to the displacement analysis of robotic manipulators of the serial type, which we call the geometry of serial robots. The study is limited to decoupled robots, to be defined below, the inverse displacement analysis of general six-axis robots being the subject of Chap. 9. These robots serving mainly to perform manipulation tasks, they are also referred to as manipulators.
CITATION STYLE
Angeles, J. (2014). Geometry of Decoupled Serial Robots (pp. 139–183). https://doi.org/10.1007/978-3-319-01851-5_4
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