Kinematics of the MIT-AI-VICARM Manipulator (opens in new tab)

Kinematics of the MIT-AI-VICARM Manipulator Horn, Berthold K.P.; Inoue, Hirochika This paper describes the basic geometry of the electric manipulator designed for the Artificial Intelligence Laboratory by Victor Scheinman while on leave from Stanford University. The procedure for finding a set of joint angles that will place the terminal device in a desired position and orientation is developed in detail. This is on of the basic primitives that an arm controller should have. The orientation i...