DocumentCode
175895
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
fYear
2014
fDate
May 31 2014-June 2 2014
Firstpage
1495
Lastpage
1499
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location
Changsha
Print_ISBN
978-1-4799-3707-3
Type
conf
DOI
10.1109/CCDC.2014.6852403
Filename
6852403
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