Blind search inverse kinematics for controlling all types of serial-link robot arms

Cubero, Samuel N. (2008) Blind search inverse kinematics for controlling all types of serial-link robot arms. In: Mechatronics and machine vision in practice. Springer-Verlag, Berlin, Germany, pp. 229-244. ISBN 978-3-540-74026-1

[img]
Preview
PDF (Author Version)
Cubero_Book_chapter.pdf

Download (904Kb)
[img] PDF (Documentation)
Documentation.pdf

Download (181Kb)

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.


Statistics for USQ ePrint 9832
Statistics for this ePrint Item
Item Type: Book Chapter (Commonwealth Reporting Category B)
Refereed: Yes
Item Status: Live Archive
Additional Information: Held USQ Library 621 Bil
Depositing User: Bulkimport bulkimport
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 21 Nov 2008 15:59
Last Modified: 03 Jul 2013 00:12
Uncontrolled Keywords: robotics; kinematics; simulation
Fields of Research (FOR2008): ?? 913 ??
09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
09 Engineering > 0913 Mechanical Engineering > 091302 Automation and Control Engineering
09 Engineering > 0913 Mechanical Engineering > 091307 Numerical Modelling and Mechanical Characterisation
Socio-Economic Objective (SEO2008): E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
URI: http://eprints.usq.edu.au/id/eprint/9832

Actions (login required)

View Item Archive Repository Staff Only