A New Algorithm for a Spatial Serial Robot
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.
X. G. Huang et al., "A New Algorithm for a Spatial Serial Robot", Applied Mechanics and Materials, Vols. 29-32, pp. 952-955, 2010