Kinematics and workspace analysis of a robotic arm for medical delivery robots

For the control of the robot arm of a medical delivery robot, firstly, the forward kinematic equations of this 7-degree-of-freedom redundant robot arm are constructed according to a modified D-H method. Secondly, the analytical solution of the inverse kinematics of the redundant robotic arm is solve...

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Bibliographic Details
Main Authors: Wang Wenli, Wang Peng, Zhao Yongguo, Zhu Yunhai, Zhao Jie
Format: Article
Language:English
Published: EDP Sciences 2021-01-01
Series:E3S Web of Conferences
Online Access:https://www.e3s-conferences.org/articles/e3sconf/pdf/2021/33/e3sconf_aesee2021_01067.pdf