Cubero, Samuel N. (2008) Blind search inverse kinematics for controlling all types of serial-link robot arms. In: Billingsley, John and Bradbeer, Robin, (eds.) Mechatronics and machine vision in practice. Springer-Verlag, Berlin, Germany, pp. 229-244. ISBN 978-3-540-74026-1
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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.
| Item Type: | Book Chapter (Commonwealth Reporting Category B) |
|---|---|
| Additional Information: | Held USQ Library 621 Bil |
| 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 |
| Subjects: | UNSPECIFIED |
| Socio-Economic Objective (SEO2008): | E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering |
| ID Code: | 9832 |
| Deposited By: | |
| Deposited On: | 22 Nov 2008 01:59 |
| Last Modified: | 28 Oct 2011 12:09 |
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