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• W2149186423 abstract "In this paper, we present an algorithm and implementation for efficient inverse kinematics for a general six-revolute (6R) manipulator. When stated mathematically, the problem reduces to solving a system of multivariate equations. We make use of the algebraic properties of the system and the symbolic formulation used for reducing the problem to solving a univariate polynomial. However, the polynomial is expressed as a matrix determinant and its roots are computed by reducing to an eigenvalue problem. The other roots of the multivariate system are obtained by computing eigenvectors and substitution. The algorithm involves symbolic preprocessing, matrix computations and a variety of other numerical techniques. The average running time of the algorithm, for most cases, is 11 milliseconds on an IBM RS/6000 workstation. This approach is applicable to inverse kinematics of all serial manipulators.< <ETX xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>></ETX>" @default.
• W2149186423 created "2016-06-24" @default.
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• W2149186423 date "1994-01-01" @default.
• W2149186423 modified "2023-10-09" @default.
• W2149186423 title "Efficient inverse kinematics for general 6R manipulators" @default.
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• W2149186423 doi "https://doi.org/10.1109/70.326569" @default.
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