Interactive Analysis of Industrial Robots: Orthogonal Architectures, Kinematical Design and Simulation

This book focuses on the kinematic analysis, design, and simulation of industrial robots, making these topics easily accessible to students and engineers through an interactive scheme. Using a decoupling approach, the book introduces closed—form solutions to the inverse kinematics problem of robots with six degrees of freedom, readily available for fast and efficient computations aimed at simulation and control. These solutions are encapsulated in a set of algorithms presented in a unified ...