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Lectures 7-8 Manipulator Kinematics

Lectures 7-8 Manipulator Kinematics. DH Parameters Reading: Chapter 3 – Spong Text Chapter 3 - J.J. Craig Text Chapter 5 – Appin Text Product of exponentials Reading: Chapter 2.3, 2.3, 2.4 – R. Murray Chapters 3.1, 3.2 – R. Murray. Types of Joints.

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Lectures 7-8 Manipulator Kinematics

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  1. Lectures 7-8Manipulator Kinematics DH Parameters Reading: Chapter 3 – Spong Text Chapter 3 - J.J. Craig Text Chapter 5 – Appin Text Product of exponentials Reading: Chapter 2.3, 2.3, 2.4 – R. Murray Chapters 3.1, 3.2 – R. Murray

  2. Types of Joints

  3. Manipulator Kinematics using the Modified DH notation

  4. Example: PUMA 560

  5. Example: PUMA 560

  6. Example: PUMA 560

  7. Example: SCARA

  8. Example: ELBOW Manipulator

  9. Example: ELBOW Manipulator

  10. Inverse KinematicsExample: PUMA Multiple solutions

  11. Example: Spherical Wrist

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