Title :
A kinematics analysis for a 5-DOF manipulator
Author :
Jinyan Lu ; De Xu ; Peng Wang
Author_Institution :
Res. Center of Precision Sensing & Control, Inst. of Autom., Beijing, China
fDate :
May 31 2014-June 2 2014
Abstract :
In order to analyze a five-degree-of-freedom (DOF) manipulator for special applications, this paper establishes its kinematics model firstly, and then analyzes its workspace and characteristics, and gets its inverse kinematics solution. Finally, its advantages and disadvantages are presented. On the basis of kinematics analysis, combining with the typical operating cases, we point out the existing problems for the manipulator, and then provide important guidance for the next optimization design.
Keywords :
control system synthesis; manipulator kinematics; optimisation; 5-DOF manipulator; inverse kinematics; kinematics analysis; optimization design; Joints; Kinematics; Manipulators; Robot kinematics; Service robots; Trajectory; 5-DOF Manipulator; Kinematics; Simulation; Workspace;
Conference_Titel :
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-3707-3
DOI :
10.1109/CCDC.2014.6852403
