Geometric method for determining joint rotations in the inverse kinematics of robotic manipulators

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Abstract

An inverse-kinematics algorithm has been developed to evaluate the joint rotations of a robotic manipulator given the orientation of its hand link. The method mimics the way a person would determine the joint rotations by assembling the links comprising the robot mechanism and making adjustments in the joint displacements until the hand link is in the desired situation. An example is given where it is shown that the method is reasonably robust, can be applied to any design of robot, and is competitive with alternative highly-mathematical, specific-robot specialized, computational-intensive schemes.

Original languageEnglish (US)
Pages (from-to)107-117
Number of pages11
JournalJournal of Robotic Systems
Volume17
Issue number2
DOIs
StatePublished - Feb 1 2000

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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