DocumentCode
2534126
Title
A new geometric notation for open and closed-loop robots
Author
Khalil, W. ; Kleinfinger, J.F.
Author_Institution
C.N.R.S., E.N.S.M., Nantes Cedex, France
Volume
3
fYear
1986
fDate
31503
Firstpage
1174
Lastpage
1179
Abstract
This paper presents a new geometric notation for the description of the kinematic of open-loop, tree and closed-loop structure robots. The method is derived from the well-known Denavit and Hartenberg (D-H) notation, which is powerful for serial robots but leads to ambiguities in the case of tree and closed-loop structure robots. The given method has all the advantages of D-H notation in the case of open-loop robots.
Keywords
Computational geometry; Robot kinematics; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087552
Filename
1087552
Link To Document