Solving the Inverse Position Problem of a 7R Robot
In this paper a new computational technique for the inverse position problem of a 7R robot is presented. Instead of reducing the problem to one highly complicated input-output equation, we work with a system of 10 very simple polynomial equations. We show the total degree of the system is 16, in agreement with previous works. Moreover we present a numerical example confirms the technique. The whole process is simple and easy to program.
X. G. Huang et al., "Solving the Inverse Position Problem of a 7R Robot", Applied Mechanics and Materials, Vols. 29-32, pp. 961-965, 2010