Biomedical Engineering Reference
In-Depth Information
Plane of motion
g
q
1
q
1
l
1
m
1
, I
1
m
2
, I
2
L
1
l
2
q
2
L
2
FIGURE 4.3
A 2-DOF kinematic skeleton of an arm restricted to move on a vertical plane and showing
the center of mass locations and dimensions.
Table 4.2
DH parameters for the Two-link Arm
Link
θ
i
d
i
a
i
α
i
1
θ
1
0
L
1
0
2
θ
2
0
L
2
0
4.6.2
Forward recursive kinematics
In order to obtain expressions for the forward recursive kinematics, we first find
expressions for the A, B, and C terms.
A
1
5
T
1
;
A
2
5
A
1
T
2
(4.61)
B
1
5
@
T
1
A
1
@
T
2
@θ
1
θ
1
;
@θ
2
θ
2
B
2
5
B
1
T
2
1
(4.62)
2
T
1
@θ
2
T
2
@θ
C
1
5
@
1
@
T
1
2
B
1
@
T
2
A
1
@
A
1
@
T
2
2
1
2
2
θ
@θ
1
θ
1
;
@θ
2
θ
2
1
θ
@θ
2
θ
2
(4.63)
C
2
5
C
1
T
2
1
1
2
1
2
2
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