Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem
نویسندگان
چکیده
منابع مشابه
Efficient inverse kinematics for general 6R manipulators
| The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipula-tors. The main interest has been in inverse kinematics of a six revolute (6R) jointed manipulator with arbitrary geometry. It has been recently shown that the joints of a general 6R manipulator can orient themselves in 16 diierent con-gurations (at most), for a given pose of the end{e...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2018
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881418818297