abstract
- © 2020, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.This paper details the kinematic analysis for a 5 degrees-of-freedom serial robot, the Scorbot-ER III. Based on the Denavit-Hartenberg convention is presented a semi-analytical relation between the end effector pose, and the joints angles. The computational time required to calculate the robot trajectories is reduced significantly, making this a suitable algorithm for real time applications; specially for those where the robot is intended to move in a continuously changing environment.