Kinematic Analysis of Manipulators using the Zero Reference Position Description

摘要

This paper presents a new method of kinematic analysis of manipulators, called the zero reference position method. In this method, the description of the manipulator is in terms of the axes directions and locations in the zero reference position...This type of manipulator description is easy to learn and is not prone to errors of interpretation....In this paper, it is shown that this method leads to a modular approach to the closed-form solutions of manipulators with ordinary or geared three-roll wrists. Complete solutions for six types of contemporary industrial robots are included. (Author)