Modelling, Nonlinear and Impedance Control of a 7 DoF Serial Manipulator

Section: 
Research
Subsection: 
Course Project
Place: 
Department of Mechanical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)
Associate: 
A. Nasr
F. Asadi
S.A.A. Moosavian
Date: 
2014/06/20

Serial manipulators are the most common industrial robots. They are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. Often they have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist".

Serial robots usually have six joints, because it requires at least six degrees of freedom to place a manipulated object in an arbitrary position and orientation in the workspace of the robot.