In this paper, an analytical technique is presented that is based on 4 multiplied by 4 transform matrices to derive the kinematic equations and the workspace formulations of robot manipulators. A computational procedure for the quantitative evaluation of workspace volume is also developed. Some typical cases and examples are chosen to demonstrate the usefulness and effectiveness of the approach. The reduction of kinematic coupling effect of industrious robot is also studied. Following the reduction rule, a new robot kinematic model - NCKU3 is developed. The advantage of the new model is that the control variables of orientation and position can be solved independently.
|頁（從 - 到）||17-23|
|期刊||Chung-Kuo Chi Hsueh Kung Ch'eng Hsueh Pao/Journal of the Chinese Society of Mechanical Engineers|
|出版狀態||Published - 1 1月 1986|