Generating a reference trajectory with defined kinematics for the IRb-6 manipulator (Q1804965)
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scientific article; zbMATH DE number 751296
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Generating a reference trajectory with defined kinematics for the IRb-6 manipulator |
scientific article; zbMATH DE number 751296 |
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Generating a reference trajectory with defined kinematics for the IRb-6 manipulator (English)
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11 June 1995
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The author presents an original computer algorithm PLAN2 generating a reference trajectory of motion for the IRb-6 manipulator. The kinematics of those trajectories is defined at selected points through which a task is to be passed, and the distance between them is optimal. The algorithm is based on analytic solutions to the inverse kinematic problem for the IRb-6 manipulator. An illustrative example is given.
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computer algorithm PLAN2
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analytic solutions
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inverse kinematic problem
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