Manipulator kinematics

Abstract

This article deals with the kinematics of serial manipulators. The serial manipulators are assumed to be rigid and are modeled using the well-known Denavit-Hartenberg parameters. Two well-known problems in serial manipulator kinematics, namely, the direct and inverse problems, are discussed, and several examples are presented. The important concept of the workspace of a serial manipulator and the approaches to determine the workspace are also discussed.