Robots physically interact with the environment through mechanical contacts. Mating work pieces in a robotic…

Now that we know the basic properties of the Jacobian, we are ready to formulate…

The Jacobian plays an important role in the analysis, design, and control of robotic systems.…

In the previous chapter, the position and orientation of the manipulator end-effecter were evaluated in…

Consider the five-bar-link planar robot arm Note that Joint 2 is a passive joint. Hence,…

The vector kinematic equation derived in the previous section provides the functional relationship between the…

Kinematics is Geometry of Motion. It is one of the most fundamental disciplines in robotics,…

Primitive joints can be arranged in parallel as well as in series. Figure 3.2.1 illustrates…

A robot is a machine capable of physical motion for interacting with the environment. Physical…

The DC motor described in the previous section is the simplest, yet efficient motor among…