Numerical inverse kinematics for modular reconfigurable robots

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199904)16:4<213::AID-ROB2>3.0.CO;2-Z" /><213::AID-ROB2>3.0.CO;2-Z 10.1002/(SICI)1097-4563(199904)16:4<213::AID-ROB2>3.0.CO;2-ZzbMath0938.70007OpenAlexW1988194377MaRDI QIDQ4262709

Guilin Yang, In-Gyu Kang, I-Ming Chen

Publication date: 21 June 2000

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199904)16:4<213::aid-rob2>3.0.co;2-z

zbMATH Keywords

Newton-Raphson iteration methodpath matrixautomated model generationaccessibility matrixarbitrary robot geometrykinematic graph representationmodular robot assemblynumerical inverse kinematics modelproduct-of-exponential formulas

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

Related Items (3)

Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators ⋮ A new solution to the inverse position analysis of the redundant serial robot ⋮ A geometric method for determining joint rotations in the inverse kinematics of robotic manipulators

Cites Work

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