Topological analysis of 6-joint serial manipulators and their inverse kinematic solutions

DOI10.1016/S0094-114X(02)00005-8zbMath1140.70352OpenAlexW2090786482MaRDI QIDQ1603996

M. Kemal Ozgoren

Publication date: 2 July 2002

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0094-114x(02)00005-8

zbMATH Keywords

inverse kinematicsspatial kinematics6-Joint serial manipulatorsanalytical inverse kinematicsconjugate manipulatorsexponential rotation matricestopology of manipulatorstype number of manipulatorsvalid manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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