A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator

DOI10.1016/J.MECHMACHTHEORY.2006.02.001MaRDI QIDQ857237zbMATH OpenOpenAlexFDO

Authors Martin Pfurner, Hans-Peter Schröcker, Manfred Husty

Publication date 14 December 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.02.001

zbMATH Keywords

kinematic mappingSegre manifoldStudy representation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Differential geometric aspects in kinematics (53A17)

Recommendations

• scientific article; zbMATH DE number 1304578
• A practical symbolic algorithm for the inverse kinematics of 6R manipulators with simple geometry
• Implementing HuPf algorithm for the inverse kinematics of general 6R/P manipulators
• Inverse kinematic analysis of the general 6R serial manipulators based on double quaternions
• scientific article; zbMATH DE number 1004889

Cited in

(18)

• On the inverse kinematics of a fragment of protein backbone
• A practical symbolic algorithm for the inverse kinematics of 6R manipulators with simple geometry
• Manipulator motion planning for high-speed robotic laser cutting
• Inverse kinematics of a 7R 6-DOF robot with nonspherical wrist based on transformation into the 6R robot
• Geometric characterization of the workspace of non-orthogonal rotation axes
• Exact kinematic analysis of the general 5R robot.
• Inverse kinematic analysis of the general 6R serial manipulators based on double quaternions
• Efficient implementation of inverse kinematics on a 6-DOF industrial robot using conformal geometric algebra
• Algebraic \(\mathbb C^*\)-actions and the inverse kinematics of a general 6R manipulator
• Research on real-time inverse kinematics algorithms for 6R robots
• Notes on planar inverse kinematics based on geometric algebra
• Solution for inverse kinematics and research for the singularity of the 6R robot
• Implementing HuPf algorithm for the inverse kinematics of general 6R/P manipulators
• Closed form solutions for inverse kinematics approximation of general 6R manipulators.
• Inverse displacement solutions of serial robot based on conformal geometric algebra
• Topological analysis of 6-joint serial manipulators and their inverse kinematic solutions
• On the configurations of closed kinematic chains in three-dimensional space
• Mapping similarity between parallel and serial architecture kinematics

This page was built for publication: A new and efficient algorithm for the inverse kinematics of a general serial \(6R\) manipulator

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q857237)