A Computational Algorithm for a Spatial Serial Robot

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 217-218)

Edited by:

Zhou Mark

Pages:

233-237

DOI:

10.4028/www.scientific.net/AMR.217-218.233

Citation:

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

Online since:

March 2011

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Price:

$35.00

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