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
Public Notes

Files associated with this item cannot be displayed due to copyright restrictions.

Byline AffiliationsDepartment of Mechanical and Mechatronic Engineering
Institution of OriginUniversity of Southern Queensland
Permalink -

https://research.usq.edu.au/item/q0418/blind-search-inverse-kinematics-for-controlling-all-types-of-serial-link-robot-arms

Log in to edit

Download files

Submitted Version
Cubero_Book_chapter.pdf
File access level: Anyone

  • 1913
    total views
  • 812
    total downloads
  • 0
    views this month
  • 0
    downloads this month

Export as

Related outputs

Mechanical design of a large scale amphibious walking and swimming robot
Cubero, S. N., Billingsley, J. and Mohammed, J.. 2011. "Mechanical design of a large scale amphibious walking and swimming robot." 18th Annual International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2011). Brisbane, Australia 06 - 07 Dec 2011
Design concepts for an energy-efficient amphibious unmanned underwater vehicle
Cubero, Samuel N. and Billingsley, John. 2015. "Design concepts for an energy-efficient amphibious unmanned underwater vehicle." Billingsley, John and Brett, Peter (ed.) Machine vision and mechatronics in practice. Heidelberg, Germany. Springer. pp. 209-223
Game development tools for simulating robots and creating interactive learning experiences
Cubero, Samuel N. and Billingsley, John. 2015. "Game development tools for simulating robots and creating interactive learning experiences." Billingsley, John and Brett, Peter (ed.) Machine vision and mechatronics in practice. Heidelberg, Germany. Springer. pp. 113-134
Simulating the kinematics and motions of robotic manipulators using 3D game development tools
Cubero, Samuel N. and Billingsley, John. 2013. "Simulating the kinematics and motions of robotic manipulators using 3D game development tools." Eroglu, Aylin K., Turhan, Cigdem, Erden, Zuhal and Erden, Abdulkadir (ed.) 20th Annual International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2013). Ankara, Turkey 18 - 20 Sep 2013 United States.
A case study on the revitalisation of a 2nd level engineering and spatial science PBL course
Goh, Steven, Worden, John, Zhou, Hong and Cubero, Samuel. 2009. "A case study on the revitalisation of a 2nd level engineering and spatial science PBL course." Kestell, Colin, Grainger, Steven and Cheung, John (ed.) 20th Annual Conference for the Australasian Association of Engineering Education (AAEE 2009). Adelaide, Australia 06 - 09 Dec 2009 Adelaide, South Australia.
A general purpose inverse kinematics algorithm for all manipulators
Cubero, Samuel Nacion. 2004. "A general purpose inverse kinematics algorithm for all manipulators." Billingsley, John (ed.) 11th Annual Conference on Mechatronics and Machine Vision in Practice. Macau, China 28 Nov - 03 Dec 2004 Hertfordshire, England.
A low cost vision-guided car for autonomous racing car competitions
Cubero, Samuel and Tjoe, Donal. 2007. "A low cost vision-guided car for autonomous racing car competitions." Billingsley, John (ed.) 12th Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP 2005). Manila, Philippines 29 Nov - 01 Dec 2005 Hertfordshire, England.
Autonomous racing car competition for mechatronics engineering education
Layanto, Jeffrey, Cubero, Sam and Goode, Matthew. 2003. "Autonomous racing car competition for mechatronics engineering education." Billingsley, John (ed.) 10th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 2003). Perth, Australia 09 - 11 Dec 2003 Taunton, England.
Development of a 3D laser scanner for guiding a six-legged walking robot
Frost, Benjamin and Cubero, Samuel Nacion. 2005. "Development of a 3D laser scanner for guiding a six-legged walking robot." Billingsley, John (ed.) 12th Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP 2005). Manila, Philippines 29 Nov - 01 Dec 2005 Hertfordshire, England.
A six-legged hybrid walking and wheeled robot
Cubero, Samuel Nacion. 2000. "A six-legged hybrid walking and wheeled robot." Billingsley, John (ed.) Mechatronics and machine vision. Baldock, Hertfordshire, England. Research Studies Press. pp. 293-302
Dynamics and control of a VTOL quad-thrust aerial robot
Cubero, Samuel N. and Portlock, Joshua N.. 2008. "Dynamics and control of a VTOL quad-thrust aerial robot." Billingsley, John and Bradbeer, Robin (ed.) Mechatronics and machine vision in practice. Berlin, Germany. Springer. pp. 27-40
Automated soil hardness testing machine
Sanathkumara, Kumarapelige N. and Cubero, Samuel N.. 2007. "Automated soil hardness testing machine." Bradbeer, Robin and Ku, Kenneth (ed.) 14th Annual Conference on Mechatronics and Machine Vision In Practice (M2VIP 2007). Xiamen, China 03 - 05 Dec 2007 Hong Kong. https://doi.org/10.1109/MMVIP.2007.4430747
Force, compliance and position control for a space frame manipulator
Cubero, Samuel N. and Billingsley, John. 1997. "Force, compliance and position control for a space frame manipulator." Werner, Bob (ed.) 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997). Toowoomba, Australia 23 - 25 Sep 1997 Los Alamitos, CA. United States. https://doi.org/10.1109/MMVIP.1997.625306