Direct Kinematics of the Double-Triangular Manipulator: An Exercise in Geometric Thinking
Introduction
Background
Motive
Our Goal
Planar Case
The Simplified Model
Method of Solution
Incidence
Solution
Spherical Case
PPT Slide
The Coordinate System
The Great Circle Arcs
The Unified Method
Kinematics
Conclusion - P??PM
Conclusion - S??PM
Example - q1 vs y1
Example - q2 vs y2
Example - y1 vs y2
Email: [email protected]
Home Page: www.mcgill.ca/~jshum
Other information: Presentation for 7ARK (07-29-2000) Piran, Slovenia