2002 · 14 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsDifferential KinematicsForward KinematicsInverse KinematicsKinematicsManipulator ControlRobot ManipulatorsForward Differential KinematicsInverse Differential KinematicsKinematic Chain ModelingManipulator ModelingRobot Kinematic Modeling
Manipulator control is one of the main research areas in robotics, requiring in the first instance the manipulator model. Using the Denavit-Hartenberg methodology this paper develops both forward and inverse kinematics models for a 5-dof Pioneer 2 robot arm. This paper also includes background information about robot arms, especially the Pioneer 2 robot arm, and discusses some implementation issues.