A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="984823.fig.0014a" src="https://static.hindawi.com/articles/jr/volume-2010/984823/figures/984823.fig.0014a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>GP2D12 front ETs</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="984823.fig.0014b" src="https://static.hindawi.com/articles/jr/volume-2010/984823/figures/984823.fig.0014b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>GP2D120 gripper ET</td></tr></table></td></tr></table>

Journal of Robotics

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Figure 14

Figure 14: A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation 