Robot arm design that allows inverse arm solution in closed form
Victor Scheinman's MIT Arm, built for MIT's Artificial Intelligence Lab ca. 1972, the first arm designed with a 321 kinematic structure
321 kinematic structure is a design method for robotic arms (serial manipulators), invented by Donald L. Pieper and used in most commercially produced robotic arms. The inverse kinematics of serial manipulators with six revolute joints, and with three consecutive joints intersecting, can be solved in closed form, i.e. a set of equations can be written that give the joint positions required to place the end of the arm in a particular position and orientation.[1] An arm design that does not follow these design rules typically requires an iterative algorithm to solve the inverse kinematics problem.
The 321 design is an example of a 6R wrist-partitioned manipulator: the three wrist joints intersect, the two shoulder and elbow joints are parallel, the first joint intersects the first shoulder joint orthogonally (at a right angle). Many other industrial robots, such as the PUMA, have a kinematic structure that deviates a little bit from the 321 structure. The offsets move the singular positions of the robot away from places in the workspace where they are likely to cause problems.
^D. L. Pieper, The kinematics of manipulators under computer control. PhD thesis, Stanford University, Department of Mechanical Engineering, 1968.
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321kinematicstructure is a design method for robotic arms (serial manipulators), invented by Donald L. Pieper and used in most commercially produced...
practically relevant result in this context, referred to as 321kinematicstructure: The inverse kinematics of serial manipulators with six revolute joints, and...
and absorption, refraction and multiple scattering can be neglected (kinematic diffraction). The direction of any scattered wave is defined by its scattering...
Articles related to robotics include: *batteries not included 20Q 321kinematicstructure 3D pose estimation 5DX 790 (robot) 8 Man 964 Pinocchio A.P.E.X...
Transactions and Proceedings of the American Philological Association. 76: 321–332. doi:10.2307/283344. ISSN 0065-9711. JSTOR 283344. Toomer, G. J. (7 March...
dynamic viscosity of the fluid (Pa·s or N·s/m2 or kg/(m·s)) ν is the kinematic viscosity of the fluid (m2/s). The Reynolds number can be defined for...
akzessorisches Mineral". Aufschluss. 52: 381–383. G. Vavra (1990). "On the kinematics of zircon growth and its petrogenetic significance: a cathodoluminescence...
coastal and offshore structures, in order to determine the wave kinematics (free surface elevation and flow velocities). The wave kinematics are subsequently...
cosmological redshift becomes more ambiguous, although its interpretation as a kinematic Doppler shift remains the most natural one. An unexplained discrepancy...
orbits that are inclined to the plane of the galaxy. A comparison of the kinematics of nearby stars has allowed astronomers to trace their origin to common...
to access information on recoiling tracks and constrain WIMP-nucleus kinematics. WIMPs coming from the direction in which the Sun travels (approximately...
half-life actinides in the spectrum of Przybylski's star (HD 101065)". Kinematics and Physics of Celestial Bodies. 24 (2): 89–98. Bibcode:2008KPCB...24...
seen at various inclinations to our line-of-sight. Observations of the kinematics of early-type galaxies further confirmed this. Examples of elliptical...
doi:10.1038/ngeo2508. Charnoz, S.; et al. (2005). "Cassini Discovers a Kinematic Spiral Ring Around Saturn" (PDF). Science. 310 (5752): 1300–1304. Bibcode:2005Sci...
Wilhelm, Patricia B.; Mallat, Jon (2010). Human Anatomy. Pearson. ISBN 978-0-321-61611-1. Platzer, Werner (2004). Color Atlas of Human Anatomy, Vol. 1: Locomotor...
Retrieved May 11, 2015. Williams, M. J.; Bureau, M.; Cappellari, M. (2010). "Kinematic constraints on the stellar and dark matter content of spiral and S0 galaxies"...
(August 1987). "Studies of the Virgo cluster. VI – Morphological and kinematicalstructure of the Virgo cluster". The Astronomical Journal. 94: 251–277. Bibcode:1987AJ...
reflections (quasi-kinematical diffraction conditions). Just as with X-ray diffraction patterns, the important crystallographic structure factor phases are...
O, and B. Roth, Theoretical Kinematics, Dover Publications (September 1990), link to Google books Hunt, K. H., Kinematic Geometry of Mechanism, Oxford...
Vision found that soccer players had higher perceptual ability for body kinematics such as processing multitasking crowd scenes which involve pedestrians...
Introductory Astronomy & Astrophysics (4th ed.). Saunders College Publishing. pp. 321–322. ISBN 0-03-006228-4. "Stars". Science Mission Directorate. 16 March 2012...
Scott C.; Ibata, Rodrigo A.; Lewis, Geraint F.; et al. (2006). "A kinematically selected, metal-poor spheroid in the outskirts of M31". Astrophysical...
of Skye, northwest Scotland: a re-examination of the fabrics and their kinematic significance". Geological Magazine. 124 (3): 231–248. Bibcode:1987GeoM...
can be established, e.g., from the exact relation between the theory of kinematic dynamo and STS. The finite-time SEO can be obtained in another, more mathematical...
Titon, M.; Yekutieli, Y.; Hanassy, S.; Hochner, B.; Flash, T. (2013). "Kinematic decomposition and classification of octopus arm movements". Frontiers...
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