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. |
| 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: | 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 |
| URI: | http://eprints.usq.edu.au/id/eprint/9832 |
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