Determination of the inverse kinematics branches of solution based on joint coordinates for UR-like serial robot architecture
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Abstract This paper introduces a classification of the inverse kinematics solutions (or robot postures) of six-degree-of-freedom serial robots with a geometry based on or similar to Universal Robots' arms. The solution of the inverse kinematics problem is first presented briefly and the equations required to classify the robot postures(branches) based on the joint coordinates are then introduced.
2011 ◽
Vol 217-218
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pp. 233-237
2019 ◽
Vol 14
(13)
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pp. 4617-4624
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2005 ◽
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2017 ◽
Vol 4
(1)
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pp. 43