A faster method for robot modelling by direct kinematics using "complete kinematical structure"

Authors:
Viorel Stoian
Affiliations:
Mechatronics and Automatic Control Department, University of Craiova, Romania
Venue:
ACMOS'05 Proceedings of the 7th WSEAS international conference on Automatic control, modeling and simulation
Year:
2005

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Abstract

This paper presents a faster method for robot modelling by direct kinematics using "Complete Kinematical Structure-CKS". It is a stucture with 3 revolute joints and 3 prismatic joints which can assure a complete positioning and orientation in space for an object attached to its terminal. Its homogeneous transformation operator between fix frame (RF) and mobile frame (RM) is determined. An algorithm for robot modelling by CKS is enunciated. Finally, two applications of some robotic structures are presented.