DocumentCode
540120
Title
A systematic approach to robot inverse kinematics
Author
Wu, J.Y.
fYear
1990
fDate
9-11 Aug. 1990
Firstpage
523
Lastpage
526
Abstract
A systematic approach to solving the inverse kinematics problem is presented. This approach identifies the complexity of an inverse kinematics problem quickly and then finds the solution more easily than conventional methods. Examples are given to demonstrate the implementation of the proposed approach. The approach employs the matrix exponential and the concept of cluster joints
Keywords
inverse problems; kinematics; robots; cluster joints; matrix exponential; robot inverse kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems Engineering, 1990., IEEE International Conference on
Conference_Location
Pittsburgh, PA, USA
Print_ISBN
0-7803-0173-0
Type
conf
DOI
10.1109/ICSYSE.1990.203209
Filename
5725741
Link To Document