Title :
An iterative algorithm for the robot coordinate transformation
Author_Institution :
General Electric Company, Schenectady, New York
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;
Conference_Titel :
Decision and Control, 1983. The 22nd IEEE Conference on
Conference_Location :
San Antonio, TX, USA
DOI :
10.1109/CDC.1983.269717
