Kinematics, Statics, and Dynamics of Two-D Manipulators
Author(s)Horn, Berthold K.P.
In order to get some feeling for the kinematics, statics, and dynamics of manipulators, it is useful to separate the problem of visualizing linkages in three-space from the basic mechanics. The general-purpose two-dimensional manipulator is analyzed in this paper in order to gain a basic understanding of the issues without the complications of three-dimensional geometry.
This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-70-A-0362-0005.
MIT Artificial Intelligence Laboratory
MIT Artificial Intelligence Laboratory Working Papers, WP-99