Models for three new screw-based IK sub-problems using geometric descriptions and their applications

DOI10.1016/j.apm.2018.10.002zbMath1481.70049OpenAlexW2895118923WikidataQ129127899 ScholiaQ129127899MaRDI QIDQ2307225

Congbin Yang, Qiang Cheng, Yong-Sheng Zhao, Zhi-Feng Liu, Jingjing Xu, Yanhu Pei

Publication date: 27 March 2020

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2018.10.002

zbMATH Keywords

inverse kinematicsscrew theoryredundant manipulatorrotational jointsgeometrical relationship

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators

Cites Work

• Unnamed Item
• Inverse kinematics solutions for industrial robot manipulators with offset wrists
• Closed form inverse kinematics solution for a redundant anthropomorphic robot arm
• Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory

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