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Kinematics of Mitsub i shi RV- 6S/6SC Robot Intelligent Robotics Tomas Pajdla pajdla@cmp.fel.cvut.cz October 2004

Kinematics of Mitsub i shi RV- 6S/6SC Robot Intelligent Robotics Tomas Pajdla pajdla@cmp.fel.cvut.cz October 2004. Kinemati c model of Mitsub i shi RV- 6S/6SC ( Denavit-Hartenberg convention ). Transformation in a joint is described by 4 parameters.

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Kinematics of Mitsub i shi RV- 6S/6SC Robot Intelligent Robotics Tomas Pajdla pajdla@cmp.fel.cvut.cz October 2004

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  1. Kinematics of Mitsubishi RV-6S/6SC Robot Intelligent Robotics Tomas Pajdla pajdla@cmp.fel.cvut.cz October 2004

  2. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention) Transformation in a joint is described by 4 parameters R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

  3. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention) Transformation in a joint is described by 4 parameters R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

  4. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention) Transformation in a joint is described by 4 parameters R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

  5. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention) Transformation in a joint is described by 4 parameters R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

  6. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention) Transformation in a joint is described by 4 parameters R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

  7. RV-6S/6SC

  8. MATLAB simulation in ROBOT toolbox: mRV6S = RV-6S (6 axis, RRRRRR) [Mitsubishi] <home = [0.000000 -1.047198 -0.523599 0.000000 0.785398 0.000000]> grav = [0.00 0.00 9.81] alpha_i a_i theta_i d_i R/P standard D&H parameters -1.570796 85.000 parameter 350.000 R (std) 0.000000 280.000 parameter 0.000 R (std) -1.570796 100.000 parameter 0.000 R (std) 1.570796 0.000 parameter 315.000 R (std) -1.570796 0.000 parameter 0.000 R (std) 0.000000 0.000 parameter 85.000 R (std)

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