Please enable JavaScript.
Coggle requires JavaScript to display documents.
CH 3: MANIPULATOR KINEMATICS (3.8 Frames with Standard Names (The base…
CH 3: MANIPULATOR KINEMATICS
3.1 Introduction
3.4 Convention for affixing frames to links
Intermediate links in the chain
First and last links in the chain
Summary of the link parameters in terms of the link frames
Summary of link-frame attachment procedures
3.6 Actuator Space, Joint Space, and Cartesian Space
3.9 Where is the tool?
3.2 Link Description
3.3 Link-Connection Description
Intermediate links in the chain
First and last links in the chain
Link parameters
3.7 Examples of two industrial robots
The PUMA 560
The Yasukawa Motoman L-3
3.8 Frames with Standard Names
The base frame, {B}
The station frame, {S}
The wrist frame, {W}
The tool frame, {T}
The goal frame, {G}
3.10 Computational Considerations
3.5 Manipulator Kinematics
Derivation of link transformations
Concatenating link transformations