15. Manipulators: Arms and LegsΒΆ


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There is a wealth of literature on robotic manipulators especially in the context of fixed industrial robots. This is an important area of study but will not be duplicated here. This text is focused on mobile systems. Manipulators enter as arms and legs. It is possible to mount a robotic manipulator on the robot chassis. The group of manipulators which are only involved in transporting the robot we will call legs, and the rest will be called arms. The control of these might not be at all different and strictly rely on use.

In the first section we lay down some basic terms required for the methods presented on forward kinematics derivation. The actual forward and inverse kinematics will be treated in the following section on Denavit-Hartenberg Parameters.