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

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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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Item Type:	Book Chapter (Commonwealth Reporting Category B)
Refereed:	Yes
Item Status:	Live Archive
Additional Information:	© 2008 Springer-Verlag. Permanent restricted access to published version due to publisher copyright policy.
Faculty/School / Institute/Centre:	Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Faculty/School / Institute/Centre:	Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Date Deposited:	21 Nov 2008 15:59
Last Modified:	12 Sep 2016 02:57
Uncontrolled Keywords:	robotics; kinematics; simulation
Fields of Research (2008):	09 Engineering > 0913 Mechanical Engineering > 091399 Mechanical Engineering not elsewhere classified 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
Fields of Research (2020):	40 ENGINEERING > 4017 Mechanical engineering > 401799 Mechanical engineering not elsewhere classified 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400799 Control engineering, mechatronics and robotics not elsewhere classified 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400799 Control engineering, mechatronics and robotics not elsewhere classified 40 ENGINEERING > 4017 Mechanical engineering > 401706 Numerical modelling and mechanical characterisation
Socio-Economic Objectives (2008):	E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
Identification Number or DOI:	https://doi.org/10.1007/978-3-540-74027-8_19
URI:	http://eprints.usq.edu.au/id/eprint/9832

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