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A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis
Zaplana, I.; Basañez, L.
Type of activity
Mechanism and machine theory Date of publication
© 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form techniques have been developed so far. In this paper, redundant manipulators are reduced to non-redundant ones by selecting a set of joints, denoted redundant joints, and parametrizing its joint variables. This selection is made through a workspace analysis which also provi...
Zaplana, I., Basañez, L. A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis. "Mechanism and machine theory", 1 Març 2018, vol. 121, p. 829-843.
Inverse kinematics, redundant manipulators, robotics, workspace analysis
Group of research
SIR - Service and Industrial Robotics