31:
131:
68:, i.e. a set of equations can be written that give the joint positions required to place the end of the arm in a particular position and orientation. An arm design that does not follow these design rules typically requires an
84:, have a kinematic structure that deviates a little bit from the 321 structure. The offsets move the singular positions of the robot away from places in the workspace where they are likely to cause problems.
75:
The 321 design is an example of a 6R wrist-partitioned manipulator: the three wrist joints intersect, the two shoulder and elbow joints are parallel, the first joint intersects the first shoulder joint
116:
81:
100:
168:
37:'s MIT Arm, built for MIT's Artificial Intelligence Lab ca. 1972, the first arm designed with a 321 kinematic structure
17:
187:
192:
161:
142:
65:
8:
69:
154:
57:
49:
53:
34:
138:
61:
103:. PhD thesis, Stanford University, Department of Mechanical Engineering, 1968.
181:
30:
77:
101:
D. L. Pieper, The kinematics of manipulators under computer control
64:, and with three consecutive joints intersecting, can be solved in
27:
Robot arm design that allows inverse arm solution in closed form
130:
80:(at a right angle). Many other industrial robots, such as the
45:
56:
and used in most commercially produced robotic arms. The
179:
162:
169:
155:
72:to solve the inverse kinematics problem.
29:
14:
180:
125:
137:This robotics-related article is a
24:
25:
204:
110:
129:
60:of serial manipulators with six
94:
13:
1:
87:
141:. You can help Knowledge by
7:
10:
209:
124:
117:321 Kinematic Structure
44:is a design method for
42:321 kinematic structure
38:
33:
70:iterative algorithm
50:serial manipulators
58:inverse kinematics
39:
150:
149:
16:(Redirected from
200:
188:Robot kinematics
171:
164:
157:
133:
126:
104:
98:
54:Donald L. Pieper
35:Victor Scheinman
21:
18:Donald L. Pieper
208:
207:
203:
202:
201:
199:
198:
197:
178:
177:
176:
175:
122:
113:
108:
107:
99:
95:
90:
62:revolute joints
52:), invented by
28:
23:
22:
15:
12:
11:
5:
206:
196:
195:
193:Robotics stubs
190:
174:
173:
166:
159:
151:
148:
147:
134:
120:
119:
112:
111:External links
109:
106:
105:
92:
91:
89:
86:
26:
9:
6:
4:
3:
2:
205:
194:
191:
189:
186:
185:
183:
172:
167:
165:
160:
158:
153:
152:
146:
144:
140:
135:
132:
128:
127:
123:
118:
115:
114:
102:
97:
93:
85:
83:
79:
73:
71:
67:
63:
59:
55:
51:
47:
43:
36:
32:
19:
143:expanding it
136:
121:
96:
78:orthogonally
74:
41:
40:
66:closed form
182:Categories
88:References
46:robotic
48:arms (
139:stub
82:PUMA
184::
170:e
163:t
156:v
145:.
20:)
Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.
