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SME MS94-192
- A Kinematic Analysis Of Two 3-R Robots Manipulating An Open0chain Payload
- standard by Society of Manufacturing Engineers, 06/01/1994
- Publisher: SME
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THIS PAPER FOCUSES ON THE INVERSE KINEMATICS AND THE WORKSPACE OF TWO PLANAR THREE-REVOLUTE ROBOTS MANIPULATING A PLANAR FOUR-LINK OPEN-CHAIN PAYLOAD. FIRST, THE SOLUTION TO THE INVERSE POSITION PROBLEM IS OBTAINED AND USED TO STUDY THE WORKSPACE OF A POINT FIXED IN A LINK OF THE PAYLOAD. THE SOLUTION TO THIS PROBLEM IS OBTAINED USING THE METHOD OF KINEMATIC COEFFICIENTS. THIS METHOD PROVIDES VALUABLE GEOMETRIC INSIGHT INTO THE INSTANTANEOUS MOTION OF THE CLOSED CHAIN FORMED BY THE ROBOT.
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