TY  - JOUR
TT  - THE COMPARISION OF KINEMATIC MODELS OF ROBOT SYSTEMS
AU  - Küçük, Serdar
AU  - Bingül, Zafer
PY  - 2004
DA  - June
JF  - Politeknik Dergisi
PB  - Gazi University
WT  - DergiPark
SN  - 2147-9429
SP  - 107
EP  - 117
VL  - 7
IS  - 2
KW  - Robot manipulatörleri
KW  - Homojen Dönüşüm
KW  - Lie cebri
KW  - kartezyen uzayı
KW  - kartonyum uzayı
N2  - In this paper, six methods for the formulation of the robot kinematic equations with serial links are presented. Two different spaces are used in kinematic modeling of robots namely Cartesian space and Quaternion space. Five kinematic methods in Cartesian space and one kinematic method in Quaternion space are described and they are compared to each other. Some of these methods are useable for forward kinematic solutions while some others are for inverse kinematic solutions. Kinematic analysis in Quaternion space does not include redundant elements while Cartesian space analysis does. Therefore, the kinematic models defined in Quaternion space run faster than those defined in Cartesian space in computer environment
UR  - https://dergipark.org.tr/en/pub/politeknik/article/366958
L1  - https://dergipark.org.tr/en/download/article-file/384386
ER  -