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

DOI10.1016/J.APM.2018.10.002MaRDI QIDQ2307225zbMATH OpenOpenAlexWikidataFDO

Authors Jingjing Xu, Zhifeng Liu, Qiang Cheng, Yongsheng Zhao, Yanhu Pei, Congbin Yang

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

geometrical relationshipinverse kinematicsredundant manipulatorrotational jointsscrew theory

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cites work

• Closed form inverse kinematics solution for a redundant anthropomorphic robot arm
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Inverse kinematics solutions for industrial robot manipulators with offset wrists
• Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory

Cited in

(2)

• Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators
• Vector polynomial based analytical inverse kinematics and configuration design of 6R robotic arms

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