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A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis

Author
Zaplana, I.; Basañez, L.
Type of activity
Journal article
Journal
Mechanism and machine theory
Date of publication
2018-03-01
Volume
121
First page
829
Last page
843
DOI
https://doi.org/10.1016/j.mechmachtheory.2017.12.005 Open in new window
Repository
http://hdl.handle.net/2117/113873 Open in new window
URL
http://www.sciencedirect.com/science/article/pii/S0094114X17307802?via%3Dihub Open in new window
Abstract
© 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...
Citation
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.
Keywords
Inverse kinematics, redundant manipulators, robotics, workspace analysis
Group of research
SIR - Service and Industrial Robotics

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