• DocumentCode
    3054197
  • Title

    An iterative algorithm for the robot coordinate transformation

  • Author

    Lumelsky, V.J.

  • Author_Institution
    General Electric Company, Schenectady, New York
  • fYear
    1983
  • fDate
    - Dec. 1983
  • Firstpage
    1217
  • Lastpage
    1219
  • Abstract
    For some configurations of so-called articulated robot arms, the inverse coordinate transformation (that is, from cartesian coordinates to their arm joint values equivalents), cannot be solved (or is not practical to be solved) in closed form. An iterative procedure for the inverse transformation, developed for this arm, is presented.
  • Keywords
    Actuators; Closed-form solution; Educational robots; Iterative algorithms; Manipulators; Orbital robotics; Research and development; Robot control; Robot kinematics; Wrist;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1983. The 22nd IEEE Conference on
  • Conference_Location
    San Antonio, TX, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1983.269717
  • Filename
    4047748
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3054197