Inverse kinematics of calibrated robots

Zhiming Ji, Ming C. Leu

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


This article presents a new approach for solving the inverse kinematics of calibrated industrial robots. The presented method solves this type of inverse kinematics problem, which has no analytical (explicit) solution, by iteratively employing Pieper's solution for inverse manipulator kinematics. It provides fast and accurate solutions for virtually all calibrated commercial robots.

Original languageEnglish (US)
Pages (from-to)675-687
Number of pages13
JournalJournal of Robotic Systems
Issue number5
StatePublished - Oct 1990

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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