Abstract
A kinematic model is derived that allows the computation of the joint coordinates and their time rates, given the Cartesian coordinates, velocities, and accelerations of five-axis manipu lators of arbitrary architecture. The model leads to a for mally overdetermined nonlinear algebraic system of six equations in five unknowns. Its least-squares approximation produces the desired joint coordinates. Joint rates are com puted as the least-squares approximation of a formally over determined linear algebraic system of six equations in five unknowns, relating the desired rates with the Cartesian ve locities. The time derivatives of the joint rates are computed similarly, but from Cartesian accelerations. The procedure is illustrated with two fully solved examples.
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.
