321 kinematic structure
id:
321-kinematic-structure-304-1068927
title:
321 kinematic structure
text:
321 kinematic structure is a design method for robotic arms, invented by Donald L. Pieper and used in most commercially produced robotic arms. The inverse kinematics of serial manipulators with six revolute joints, and with three consecutive joints intersecting, can be solved in closed form, i.e. a set of equations can be written that give the joint positions required to place the end of the arm in a particular position and orientation. An arm design that does not follow these design rules typic
brand slug:
wiki
category slug:
encyclopedia
description:
Robot arm design that allows inverse arm solution in closed form
original url:
https://en.wikipedia.org/wiki/321_kinematic_structure
date created:
date modified:
2022-06-02T15:03:41Z
main entity:
{"identifier":"Q4634928","url":"https://www.wikidata.org/entity/Q4634928"}
image:
{"content_url":"https://upload.wikimedia.org/wikipedia/commons/7/79/Scheinman_MIT_Arm.agr.jpg","width":3264,"height":2448}
fields total:
13
integrity:
15