Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
On a Link Coordinate Frame Assignment for Serial Link Robot Manipulators
Tsuneo YOSHIKAWA, Yasuyoshi YOKOKOHJI
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Keywords: robot manipulator, link coordinate frame, link parameters
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1988 Volume 24 Issue 12 Pages 1343-1345

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Abstract

Four types of link coordinate frame assignment for serial link manipulators are discussed. It is shown that the computational amount of inverse dynamics can be reduced by only changing the assignment. Optimal link coordinate frame assignment is proposed.

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