The following is a summary of the study of "Introduction to Robotics":
manipulator arm kinematics
1. Connecting rod parameters
2. Establish the connecting rod coordinate system
3. DH parameter method
Manipulator Inverse Kinematics
According to the complexity of the system structure, choose algebraic method or geometric method to solve. For a six-degree-of-freedom manipulator, if all six joints are revolving joints and the axes of the next three joints intersect, a special Pieper method can be used to solve the problem.
Manipulator Dynamics
1. Kinetic equation
Typical kinetic equation structures are as follows:
2. Newton Euler equation
1. The meaning of some parameters in the Newton Euler equation
2. Solution steps
Assume known joint positions, velocities and accelerations
2. Lagrange equation
1. Energy-based Lagrangian equation
2. Solution steps
The above is a summary of the kinematics and dynamics of the manipulator arm. Please correct me if there are any mistakes.