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Closed Form Inverse Kinematic Joint Solution for Humanoid Robots  Web Ics Purdue

Closed Form Inverse Kinematic Joint Solution for Humanoid Robots Web Ics Purdue

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In Chapters 4, 5, and 6, we studied the forward kinematics, velocity kinematics and statics, and inverse kinematics of open-chain robots. In Chapter 7, and in this single video, I am going to cover all of these topics for closed-chain robots, without going into great detail. Kinematics and statics are generally more complicated for closed-chain robots, because there is such a wide variety of design possibilities. The configuration space of closed-chain robots can be quite complex, since they must satisfy a number of loop-closure equations. There are classes of singularities that don't exist for open-chain robots, and the choice of which joints to actuate and which to leave passive can affect the singularities that occur. Oftentimes the analysis of these robots is based on symmetries and insight into the specific structure of the mechanism. In this chapter we take an example-based look at some of these issues. The study of closed-chain robots is an active research area, and this

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