• DocumentCode
    1299909
  • Title

    Locating the wrist of an elbow-type manipulator

  • Author

    Crochetiere, W.J.

  • Author_Institution
    GTE Labs. Inc., Waltham, MA, USA
  • Issue
    3
  • fYear
    1984
  • Firstpage
    497
  • Lastpage
    499
  • Abstract
    An elbow-type manipulator with a shoulder offset may assume a given wrist position in as many as four different configurations (shoulder right/left, elbow up/down). The inverse kinematic solution that defines each of these configurations for a PUMA 560 robot arm is derived trigonometrically. This solution is also compared with a previously reported solution (see ibid., vol.11, no.6, p.449-55, June 1981).
  • Keywords
    kinematics; position control; robots; PUMA 560 robot arm; elbow-type manipulator; inverse kinematic solution; shoulder offset; wrist position; Elbow; Equations; Kinematics; Manipulators; Uncertainty; Wrist;
  • fLanguage
    English
  • Journal_Title
    Systems, Man and Cybernetics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9472
  • Type

    jour

  • DOI
    10.1109/TSMC.1984.6313245
  • Filename
    6313245
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1299909