A new method to solve robot inverse kinematics using Assur virtual chains
Keyword(s):
SUMMARYThis paper describes a numerical algorithm to solve the inverse kinematics of parallel robots based on numerical integration. Inverse kinematics algorithms based on numerical integration involve the drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from that desired. The proposed algorithm associates a novel method to describe the differential kinematics with a simple numerical integration method. The methodology is presented in this paper and its exponential stability is proved. A numerical example and a real application are presented to outline its advantages.
2014 ◽
Vol 1030-1032
◽
pp. 223-227
1983 ◽
Vol 2
(2)
◽
pp. 92-100
◽
Keyword(s):
2021 ◽
2011 ◽
pp. 221-226
◽
1992 ◽
Vol 23
(8)
◽
pp. 1361-1369
◽