Title :
General purpose inverse kinematics using lookup-tables
Author_Institution :
Dept. of logistics Eng., Hochschule Reutlingen, Reutlingen, Germany
Abstract :
In this paper, a general purpose inverse kinematics algorithm is proposed. First, an introduction into the topic and an overview over the recent research about this topic is given. The proposed inverse kinematics approach, divided into a configuration and calculation part, is described. Finally, results of a example experiment and some estimations about the accuracy as well as a conclusion is given.
Keywords :
robot kinematics; table lookup; general purpose inverse kinematics; lookup-tables; robot controller; Jacobian matrices; Joints; Kinematics; Linear approximation; Robot kinematics;
Conference_Titel :
Industrial Technology (ICIT), 2013 IEEE International Conference on
Conference_Location :
Cape Town
Print_ISBN :
978-1-4673-4567-5
Electronic_ISBN :
978-1-4673-4568-2
DOI :
10.1109/ICIT.2013.6505650
