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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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
Date Deposited: 21 Nov 2008 15:59
Last Modified: 12 Sep 2016 02:57
Uncontrolled Keywords: robotics; kinematics; simulation
Fields of Research : ?? 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: E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
Identification Number or DOI: 10.1007/978-3-540-74027-8_19

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