Expression for direct and inverse kinematics of 4 degrees of freedom robot Manipulator - A 4-Degree of Freedom Manipulator in (3D) Three Dimensions:

**Direct
and inverse kinematics of 4 degrees of freedom**

**Expression for direct and inverse
kinematics of 4 degrees of freedom robot ****Manipulator**

**A
4-Degree of Freedom Manipulator in (3D) Three Dimensions:**

The
configuration of a manipulator in three dimensions. The manipulator has 4
degrees - of freedom: joint I (type T joint) allows rotation about the z axis;
joint 2 (type R) allows rotation about an axis that is perpendicular to the z
axis; joint 3 is a linear joint which is capable of sliding over a certain
range; and joint 4 is a type R joint which allows rotation about an axis that
is parallel to the joint 2 axis. Thus, we have a TRL: R manipulator.

Let us define the angle
of rotation of joint I to be the base rotation 0; the angle of rotation of
joint 2 will be called the elevation angle 4.; the length of linear joint 3
will be called the extension L (L-represents a combination of links 2 and 3);
and the angle that joint 4 makes with the x — y plane will be called the pitch
angle 4.

The
position of the end of the wrist, P, defined in the world coordinate system for
the robot, is given by

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Mechanical : Robotics : Robot Kinematics And Robot Programming : Direct and inverse kinematics of 4 degrees of freedom |

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