Kinematics Analysis of the Milti-joint Robot Manipulator for an Automatic Milking System
2007
Kim, W. (Kongju National University, Yeasan, Republic of Korea), E-mail: [email protected] | Lee, D.W. (Sungkyunkwan University, Suwon, Republic of Korea)
The purpose of this study was kinematics analysis of the multi-joint robot manipulator for an automatic milking system. The multi-joint robor manipolator was consisted of one perpendicular link and four revolution links to attach simultaneously four teat cups to four teats of a milking cow. The local coordinates of each joints on the robot manipulator was given for kinematics analysis. The transformation of manipulator was able to be given by kinematics using Denavit-Hatenberg parameters. The value of inverse kinematics which was solved by two geometric solution methods.
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