Computing Jacobian for Six Degrees of Freedom Manipulator

In this paper, the kinematics model of six-DOF manipulator is established by D-H parameter method and for the velocity analysis of the motion of manipulators a jacobian matrix is defined which represents the mapping of velocities from joint space to Cartesian space.

کلیدواژه ها:

kinematics ، D-H parameter ، manipulators ، Jacobian matrix