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A note on the inverse kinematic problem

✍ Scribed by Behnam Pourbabai

Publisher
Elsevier Science
Year
1988
Tongue
English
Weight
235 KB
Volume
4
Category
Article
ISSN
0921-8890

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✦ Synopsis

In this paper, a new formulation for the inverse kinematic problem in cartesian coordinates is developed, to analyze the movement of a robot arm with multiple links from one point in space to another point. In this model the only decision variables are the coordinates of each joint of the robot arm with respect to the base of the robot arm, and the only necessary information besides the geometric parameters of the robot arm are the coordinates of the origin and the destination points in space.

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