KINEMATICS OF AN ELBOW MANIPULATOR WITH FOREARM ROTATION: THE EXCALIBUR

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dc.contributor.authorHeise, Rosannaeng
dc.contributor.authorMacDonald, Bruce A.eng
dc.date.accessioned2008-02-26T22:37:57Z
dc.date.available2008-02-26T22:37:57Z
dc.date.computerscience1999-05-27eng
dc.date.issued1988-10-01eng
dc.description.abstractGeneral methods and typical specific solutions for robot arm geometry are well-known. This paper presents a detailed solution for a six joint manipulator which has a rotation at mid-forearm rather than a third wrist axis. Details are given indicating how real joint angles relate to those modeled by the more abstract kinematics. All degeneracies are considered and methods for handling them are given. The paper provides a complete tutorial for kinematic modeling with a specific arm.eng
dc.description.notesWe are currently acquiring citations for the work deposited into this collection. We recognize the distribution rights of this item may have been assigned to another entity, other than the author(s) of the work.If you can provide the citation for this work or you think you own the distribution rights to this work please contact the Institutional Repository Administrator at digitize@ucalgary.caeng
dc.identifier.department1988-324-36eng
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/30892
dc.identifier.urihttp://hdl.handle.net/1880/45573
dc.language.isoEngeng
dc.publisher.corporateUniversity of Calgaryeng
dc.publisher.facultyScienceeng
dc.subjectComputer Scienceeng
dc.titleKINEMATICS OF AN ELBOW MANIPULATOR WITH FOREARM ROTATION: THE EXCALIBUReng
dc.typeunknown
thesis.degree.disciplineComputer Scienceeng
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