Lecture 4: Manipulator Kinematics

author: Oussama Khatib, Computer Science Department, Stanford University
published: May 15, 2012,   recorded: January 2008,   views: 3429
released under terms of: Creative Commons Attribution Non-Commercial (CC-BY-NC)

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The Hummingbird mini-positioner is a compact device designed for the ultra high speed positioning of low mass payloads. Developed for a contact and non-contact probing of planar objects, it can probe at over 50 cycles per second with accelerations exceeding 50 Gs The five bar linkage of the mini-positioner covers a 13 millimeter square workspace. To reach larger positions, the entire mini-positioner can be moved. The two main links are driven by high performance moving coil actuators, and the link positions are sensed by low mass optical encoders. ...

See the whole transcript at Introduction to robotics - Lecture 04

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