Kinematics of the MIT-AI-VICARM Manipulator
This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-70-A-0362-0005.
This paper describes the basic geometry of the electric manipulator designed for the Artificial Intelligence Laboratory by Victor Scheinman while on leave from Stanford University. The procedure for finding a set of joint angles that will place the terminal device in a desired position and orientation is developed in detail. This is on of the basic primitives that an arm controller should have. The orientation is specified in terms of Euler-angles. Typically eight sets of joint angles will produce the same terminal device position and orientation.