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…

The servomechanism described in the previous section is based on analogue feedback technology, using a…

As the PWM frequency increases, the current driven to the motor becomes smoother, and the…

DC motors and other types of actuators are used to drive individual axes of a…