Mathematical Representations of Serial Manipulators |
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In order for OSCAR components to successfully determine the kinematics and
dynamics of a manipulator, it must given a description of the links that
make up a robot and their location relative to each other. Luckily, all the necessary information can be passed along in a single, compact format. All RRGKinematix Libraries and OSCAR 1.0 input this information in one format: the Denavit-Hartenburg [1955] Notation found in J.J. Craig's text Introduction to Robotics [1989]. OSCAR 2.0 will input data in other common notations including Thomas and Tesar [1985] and Featherstone [1987]. |
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| under construction. |
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| under construction. |