A geometric method for determining joint rotations in the inverse kinematics of robotic manipulators

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(200002)17:2<107::AID-ROB3>3.0.CO;2-Y" /><107::AID-ROB3>3.0.CO;2-Y 10.1002/(SICI)1097-4563(200002)17:2<107::AID-ROB3>3.0.CO;2-YzbMath0962.70008OpenAlexW2072171165MaRDI QIDQ4486858

Ian S. Fischer

Publication date: 21 June 2001

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(200002)17:2<107::aid-rob3>3.0.co;2-y

zbMATH Keywords

robotic manipulatorjoint rotationsinverse-kinematics algorithm

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites Work

• The dual angle and axis of a screw motion.
• A kinematic analysis of the space station remote manipulator system (SSRMS)
• Inverse kinematics and inverse dynamics for control of a biped walking machine
• Numerical inverse kinematics for modular reconfigurable robots
• A computer-aided geometric approach to inverse kinematics
• On the inverse kinematics, statics, and fault tolerance of cable-suspended robots
• Inverse kinematics of planar redundant manipulators via virtual links with configuration index

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