ABSTRACT
From a mechanical viewpoint, a robotic system generally consists of a locomotion apparatus to move in the environment and a manipulation apparatus to operate on the objects present. The mechanical structure of a robot manipulator consists of a sequence of links connected by means of joints. Robot manipulation tasks are typically specified in terms of the position and orientation of an end-effector frame with respect to a base frame. An effective procedure for computing the direct kinematics function for a general robot is based on the so-called modified Denavit-Hartenberg convention. The problem of multiple solutions depends not only on the number of degrees of freedom but also on the Denavit-Hartenberg parameters. Most of the existing robots are kinematically simple, because they are typically formed by an arm which provides mobility and by a wrist which provides dexterity. The differential kinematics equation has been utilized to solve for joint velocities.
