Paper Title:
A New Algorithm for a Spatial Serial Robot
  Abstract

In this paper a new algorithm to compute all the closed-form inverse kinematics solutions of a spatial serial robot. Based on the method, A 16th degree univariate polynomial of the spatial serial robot is obtained without factoring out or deriving the greatest common divisor. We also obtain all the closed-form solutions for the inverse kinematics of the robot. Finally a numerical example is given to demonstrate the algorithm process.

  Info
Periodical
Edited by
Honghua Tan
Pages
952-955
DOI
10.4028/www.scientific.net/AMM.29-32.952
Citation
X. G. Huang, G. P. He, D. L. Li, "A New Algorithm for a Spatial Serial Robot", Applied Mechanics and Materials, Vols. 29-32, pp. 952-955, 2010
Online since
August 2010
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Price
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