Blind search inverse kinematics for controlling all types of serial-link robot arms
Edited book (chapter)
Cubero, Samuel N.. 2008. "Blind search inverse kinematics for controlling all types of serial-link robot arms." Billingsley, John and Bradbeer, Robin (ed.) Mechatronics and machine vision in practice. Berlin, Germany. Springer. pp. 229-244
Chapter Title | Blind search inverse kinematics for controlling all types of serial-link robot arms |
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Book Chapter Category | Edited book (chapter) |
ERA Publisher ID | 3337 |
Book Title | Mechatronics and machine vision in practice |
Authors | |
Author | Cubero, Samuel N. |
Editors | Billingsley, John and Bradbeer, Robin |
Page Range | 229-244 |
Chapter Number | 19 |
Number of Pages | 16 |
Year | 2008 |
Publisher | Springer |
Place of Publication | Berlin, Germany |
ISBN | 9783540740261 |
Digital Object Identifier (DOI) | https://doi.org/10.1007/978-3-540-74027-8_19 |
Abstract | The main objective of 'Inverse Kinematics' (IK) is to find the joint variables of a serial-link manipulator to achieve a desired position and orientation relationship between the end-effector frame and a base (or reference) frame. This paper describes a general purpose Inverse Kinematics (IK) method for solving all the joint variables for any type of serial-link robotic manipulator using its Forward |
Keywords | robotics; kinematics; simulation |
ANZSRC Field of Research 2020 | 401799. Mechanical engineering not elsewhere classified |
400799. Control engineering, mechatronics and robotics not elsewhere classified | |
401706. Numerical modelling and mechanical characterisation | |
Public Notes | Files associated with this item cannot be displayed due to copyright restrictions. |
Byline Affiliations | Department of Mechanical and Mechatronic Engineering |
Institution of Origin | University of Southern Queensland |
Permalink -
https://research.usq.edu.au/item/q0418/blind-search-inverse-kinematics-for-controlling-all-types-of-serial-link-robot-arms
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