Unified Kinetostatics for Serial, Parallel and Mobile Robots
نویسنده
چکیده
This paper summarizes the description of the statics and velocity kinematics of serial, parallel and mobile robots, based on the fundamental concepts of twists and wrenches, reciprocity, the “selectively non-reciprocal screw,” and “kinematic dualities.” This approach leads to a simplified since unified treatment of serial, parallel and mobile robot kinematics (which robotics textbooks lack) and a deeper understanding of the dualities between parallel and serial structures.
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