A new and efficient algorithm for the inverse kinematics of a general serial \(6R\) manipulator

DOI10.1016/J.MECHMACHTHEORY.2006.02.001zbMath1116.70010OpenAlexW2044429593MaRDI QIDQ857237

Martin Pfurner, Hans-Peter Schröcker, Manfred L. Husty

Publication date: 14 December 2006

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

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2006.02.001

zbMATH Keywords

kinematic mappingSegre manifoldStudy representation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Differential geometric aspects in kinematics (53A17)

Related Items (6)

On the Configurations of Closed Kinematic Chains in Three-dimensional Space ⋮ Mapping similarity between parallel and serial architecture kinematics ⋮ Inverse kinematics of a 7R 6-DOF robot with nonspherical wrist based on transformation into the 6R robot ⋮ Inverse kinematic analysis of the general 6R serial manipulators based on double quaternions ⋮ Manipulator motion planning for high-speed robotic laser cutting ⋮ Geometric characterization of the workspace of non-orthogonal rotation axes

This page was built for publication: A new and efficient algorithm for the inverse kinematics of a general serial \(6R\) manipulator