Kinematics, Statics, and Dynamics of Two-D Manipulators (opens in new tab)

Kinematics, Statics, and Dynamics of Two-D Manipulators Horn, Berthold K.P. In order to get some feeling for the kinematics, statics, and dynamics of manipulators, it is useful to separate the problem of visualizing linkages in three-space from the basic mechanics. The general-purpose two-dimensional manipulator is analyzed in this paper in order to gain a basic understanding of the issues without the complications of three-dimensional geometry. This report describes research done at the Arti...