Abstract
The algebra of rotations of a vector, a portion of the Theory of Conjugate Surfaces, which includes the algebra for the combination and sequence-reciprocation of two successive rotations, and the algebra for the resolution of a given rotation into three component-rotations, is introduced. Its applications in the kinematical analysis of a nR mP robot and in the derivation of the closed-form solution for conventional 6R and 5R robots, are illustrated. A new concept, the work-attitude of the end-effector of a robot with its base-point being fixed at an assigned point, is proposed, and is discussed for cases of conventional 6R and 5R robots with use of the algebra of rotations.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
