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- 321_kinematic_structure abstract "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. 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.".
- 321_kinematic_structure wikiPageExternalLink SerialRobots-1se4.html.
- 321_kinematic_structure wikiPageID "10639465".
- 321_kinematic_structure wikiPageLength "1585".
- 321_kinematic_structure wikiPageOutDegree "10".
- 321_kinematic_structure wikiPageRevisionID "489055491".
- 321_kinematic_structure wikiPageWikiLink 321_kinematic_structure.
- 321_kinematic_structure wikiPageWikiLink Category:Robot_kinematics.
- 321_kinematic_structure wikiPageWikiLink Closed-form_expression.
- 321_kinematic_structure wikiPageWikiLink Inverse_kinematics.
- 321_kinematic_structure wikiPageWikiLink Iterative_method.
- 321_kinematic_structure wikiPageWikiLink Orthogonality.
- 321_kinematic_structure wikiPageWikiLink Programmable_Universal_Machine_for_Assembly.
- 321_kinematic_structure wikiPageWikiLink Revolute_joint.
- 321_kinematic_structure wikiPageWikiLink Robot.
- 321_kinematic_structure wikiPageWikiLink Serial_manipulator.
- 321_kinematic_structure wikiPageWikiLinkText "321 kinematic structure".
- 321_kinematic_structure wikiPageUsesTemplate Template:Reflist.
- 321_kinematic_structure wikiPageUsesTemplate Template:Robot-stub.
- 321_kinematic_structure subject Category:Robot_kinematics.
- 321_kinematic_structure hypernym Method.
- 321_kinematic_structure type Person.
- 321_kinematic_structure type Software.
- 321_kinematic_structure comment "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.".
- 321_kinematic_structure label "321 kinematic structure".
- 321_kinematic_structure sameAs Q4634928.
- 321_kinematic_structure sameAs m.02qkymh.
- 321_kinematic_structure sameAs Q4634928.
- 321_kinematic_structure wasDerivedFrom 321_kinematic_structure?oldid=489055491.
- 321_kinematic_structure isPrimaryTopicOf 321_kinematic_structure.