Serial robots

Herman Bruyninckx*

19 August, 2005

* This text is part of The Robotics WEBook, http://www.roble.info. Copyright is held by the authors, who release the text and the figures under the open content WEBook license. You are invited to improve and extend this text.
1 Introduction
2 Serial robot designs
3 Workspace
4 321 kinematic structure
5 Forward position kinematics
 5.1 General FPK: link transform algorithm
 5.2 Closed-form FPK for 321 structure
6 Accuracy, repeatability, and calibration
7 Forward velocity kinematics
 7.1 The Jacobian matrix
 7.2 General FVK: velocity recursion
 7.3 Closed-form FVK for 321 structure
8 Inverse position kinematics
 8.1 General IPK: Newton-Raphson iteration
 8.2 Closed-form IPK for 321 structure
9 Inverse velocity kinematics
 9.1 General IVK: numerical inverse Jacobian
 9.2 Closed-form IVK for 321 structure
10 Inverse force kinematics
 10.1 Projection on joint axes
 10.2 Conservation of virtual work
11 Forward acceleration kinematics
12 Inverse acceleration kinematics
13 Dual twist–wrench bases
14 Forward force kinematics
 14.1 Closed-form FFK for 321 structure
15 Singularities
 15.1 Numerical singularity detection
 15.2 Singularity detection for 321 structure
16 Redundancy
 16.1 Forward kinematics
 16.2 Inverse kinematics
17 Constrained manipulator
 17.1 Free-space motion with less than six degrees of freedom
 17.2 Motion in contact
18 Cooperating serial robots
19 Kinematic chains with one closed loop
References