A Geometrical Solution for the Inverse Kinematics of Three Revolute Manipulators
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Abstract Points of intersection of a circle and a torus are used to find a solution to the inverse kinematics problem for a three revolute manipulator. Both geometrical and algebraic solution procedures are discussed. The algebraic procedure begins with a third order equation instead of the usual fourth order equation. Since the procedure is basically geometrical it lends itself to a computer implementation which graphically displays each steps in the solution procedure. The potential of this approach for both design and pedagogy is discussed.
1972 ◽
Vol 13
(2)
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pp. 147-152
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2010 ◽
Vol 17
(4)
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pp. 485-490
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2006 ◽
Vol 14
(4)
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pp. 613-624
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1974 ◽
Vol 71
(4)
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pp. 297-304
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2017 ◽
Vol 263
(12)
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pp. 8467-8480
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2004 ◽
Vol 2004
(51)
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pp. 2705-2717