A Computational Algorithm for a Spatial Serial Robot
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.
X. G. Huang "A Computational Algorithm for a Spatial Serial Robot", Advanced Materials Research, Vols. 217-218, pp. 233-237, 2011