Motion Analysis and Research on Mobile Swing Type Manipulator
The working space and the end-effector pose of the two degrees of freedom mobile swing type manipulator are analyzed, through homogeneous coordinate transformation to establish the transformation relationship between operating space coordinate and each joint space coordinate, derived the end-effector pose matrix , using the inverse transformation method to seek motion reverse solution. Application of linear interpolation theory, doing trajectory planning for arbitrary movement path, show manipulator in its working space can realize arbitrary trajectory.
K. Tao and X. Liu, "Motion Analysis and Research on Mobile Swing Type Manipulator", Advanced Materials Research, Vols. 588-589, pp. 194-197, 2012