An Analytical Method for the Inverse Kinematics of Redundant Robots
نویسندگان
چکیده
This paper presents a new method for symbolic solving the inverse kinematics problem of robotic systems with high degree of kinematical redundancy in a closed form. The key idea is to extend the basic redundant kinematics chain with imaginary links, which limit and adapt the robots flexibility to an actual work space and/or end-effector motion. Two examples are given to demonstrate the advantages of these new ideas for robots with different degree of redundancy.
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