Inverse kinematics of spherical wrist robot arms: Analysis and simulation (Q1199135): Difference between revisions

From MaRDI portal
RedirectionBot (talk | contribs)
Changed an Item
Import240304020342 (talk | contribs)
Set profile property.
Property / MaRDI profile type
 
Property / MaRDI profile type: MaRDI publication profile / rank
 
Normal rank

Revision as of 02:29, 5 March 2024

scientific article
Language Label Description Also known as
English
Inverse kinematics of spherical wrist robot arms: Analysis and simulation
scientific article

    Statements

    Inverse kinematics of spherical wrist robot arms: Analysis and simulation (English)
    0 references
    0 references
    16 January 1993
    0 references
    This paper addresses the problem of analytically computing inverse kinematics of robot arms. Explicit solutions are limited to simple arms. This paper presents an efficient numerical algorithm for computing the inverse kinematics of a spherical wrist robot arm. The problem is decomposed into two less complex subproblems, the first concerning the robot arm basic structure and the second its hand. The computational efficiency of the proposed technique is demonstrated by simulation of two robot arms, one containing only revolute joints, the other containing both revolute and prismatic joints.
    0 references
    analytically computing inverse kinematics
    0 references
    numerical algorithm
    0 references
    robot arm basic structure
    0 references
    hand
    0 references
    revolute joints
    0 references
    prismatic joints
    0 references

    Identifiers