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 language||English (US)|
|Number of pages||13|
|Journal||Journal of Robotic Systems|
|State||Published - Oct 1990|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering