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Kinematic Model of a Specific Robotic Manipulator

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Modelling and Simulation for Autonomous Systems (MESAS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11995))

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Abstract

This paper presents a model of a specific nontrivial robotic manipulator used in practice for example for material handling. The main goal is to build a model of forward and inverse kinematics, using classical methods and differential geometry. Thus, this model is mahtematically precise. The kinematics of the robotic manipulator is also solved and visualized in MATLAB for better clarity. The acquired knowledge will be used to compare this precise kinematic model with other models that are obtained by other less explored methods.

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Acknowledgement

The author was supported by a grant no. FV 19-06.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czechia

    Jana Vechetová

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  1. Jana Vechetová
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Correspondence to Jana Vechetová .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

  2. MIRPA Lab, University of Palermo, Palermo, Italy

    Adriano Fagiolini

  3. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    Petr Vasik

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Vechetová, J. (2020). Kinematic Model of a Specific Robotic Manipulator. In: Mazal, J., Fagiolini, A., Vasik, P. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2019. Lecture Notes in Computer Science(), vol 11995. Springer, Cham. https://doi.org/10.1007/978-3-030-43890-6_3

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  • DOI: https://doi.org/10.1007/978-3-030-43890-6_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-43889-0

  • Online ISBN: 978-3-030-43890-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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