A Computational Algorithm for a Spatial Serial Robot

Autor:	Xi Guang Huang
Rok vydání:	2011
Předmět:	Computer Science::Robotics Polynomial Robot kinematics Theoretical computer science Automatic control Inverse kinematics Computer science ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION General Engineering Robot manipulator Robot Algorithm
Zdroj:	Advanced Materials Research. :233-237
ISSN:	1662-8985
DOI:	10.4028/www.scientific.net/amr.217-218.233
Popis:	The inverse kinematics of serial robots is a central problem in the automatic control of robot manipulators. The aim of this paper is to obtain a computational algorithm to compute the inverse kinematics problem of a spatial serial robot. We use a series of algebraic and numeric transformations to reduce the problem to a univariate polynomial equation. The results can be directly applied to symbolic calculations and decreased considerably the calculation time.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::c690b4c82907b4849031282d00b19cba https://doi.org/10.4028/www.scientific.net/amr.217-218.233 Zobrazit plný text záznamu