IR @ Nirma University
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http://10.1.7.192:80/jspui/handle/123456789/3248| Title: | Comparative Study of Joint Variable for RRR and RPP Configuration for Given Trajectory |
| Authors: | Dave, Jatin Sharma, Dharmendra Chauhan, Mihir |
| Keywords: | Joint Variable Jacobian Joint Velocity Mechanical Faculty Paper Faculty Paper ITFME023 ITFME007 ITFME025 NUCONE NUCONE-2009 |
| Issue Date: | 25-Nov-2009 |
| Publisher: | Institute of Technology, Nirma University, Ahmedabad |
| Citation: | National Conference on Current Trends in Technology, NUCONE-2009, Institute of Technology, Nirma University, Ahmedabad, November 25-27, 2009 |
| Series/Report no.: | ITFME023-4 |
| Abstract: | This paper deals with study of joint variable and joint velocities of RPP and RRR configuration robotic manipulator over a given trajectory. The objective of paper is to find singularities and variation of joint variable for both configurations while moving around a specified path. The Jacobian is computed for both configuration and it is compared to study the variation of joint variable around given trajectory. The trajectory used for manipulator is same and coding is done for forward and inverse kinematics using MATLAB 6.5. |
| URI: | http://10.1.7.181:1900/jspui/123456789/3248 |
| Appears in Collections: | Faculty Paper, ME |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| ITFME023-4.pdf | ITFME023-4 | 170.26 kB | Adobe PDF |  View/Open |
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