Dimensional Synthesis of Spatial Rr Robots
نویسندگان
چکیده
This paper presents a synthesis procedure for a two-degreeof-freedom spatial RR chain to reach an arbitrary end-effector trajectory. Spatial homogeneous transforms are mapped to 4× 4 rotations and interpolated as double quaternions. Each set of three spatial positions obtained from the interpolated task is used to define an RR chain. The RR chain that best fits the trajectory is the desired robot. The procedure yields a unique robot independent of the coordinate frame defined for the task.
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