Modeling the workspace of a three-link planar manipulator
Tatyana A. Sheveleva,
Alexey A. Lyashkov
Abstract:A study of the working space of a three-link planar manipulator was carried out. The basis is taken from analytical dependencies that allow solving the direct problem of kinematics, i.e. determine the coordinates of the gripper center point using three generalized coordinates of the manipulator. The analysis performed made it possible to give a geo-metric interpretation of the dependencies. It has been established that the workspace of the manipulator is a three-parameter set of points. On a plane, this set of… Show more
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