AN ALGORITHM FOR THE DIRECT AND REVERSE FIRST ORDER KINEMATICAL ANALYSIS OF THE INDUSTRIAL ROBOTS AND MANIPULATORS
FILIP VIVIANA, DUTA LUMINITA, PATIC PAUL CIPRIAN
UNIVERSITY “VALAHIA” OF TARGOVISTE
Abstract
In this paper we present a method based on matrix calculus that allows to find the angular and linear velocities of a robot/manipulator, if we know the kinematical intermediary elements (the links and the determination of the velocities of links if we know the kinematical elements of the characteristic point of the robot/manipulator.