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

Book Chapter CategoryEdited book (chapter)
ERA Publisher ID3337
Book TitleMechatronics and machine vision in practice
Authors
AuthorCubero, Samuel N.
EditorsBillingsley, John and Bradbeer, Robin
Page Range229-244
Chapter Number19
Number of Pages16
Year2008
PublisherSpringer
Place of PublicationBerlin, Germany
ISBN9783540740261
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
Kinematic (FK) solution.

Keywordsrobotics; kinematics; simulation
ANZSRC Field of Research 2020401799. Mechanical engineering not elsewhere classified
400799. Control engineering, mechatronics and robotics not elsewhere classified
401706. Numerical modelling and mechanical characterisation
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Byline AffiliationsDepartment of Mechanical and Mechatronic Engineering
Institution of OriginUniversity of Southern Queensland
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