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
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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.
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