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- W2215440030 abstract "This paper proposes a novel algorithm to solve inverse kinematics solution of the six axis robot with non spherical wrist. We have found some shortcomings of the conventional methods in finding inverse kinematics solution. They do not consider the feasible regions of solutions and often falls into local points. In this paper, we got the feasible and exact inverse kinematics solution by assuming that the PUMA robot has a wrist offset. A unidirectional search algorithm is proposed considering the feasible range of solution. Thus, our algorithm overcomes shortcomings of the conventional algorithms and guarantees to find the exact solution robustly without errors. Computer simulation results show the validity and efficiency of our approach." @default.
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- W2215440030 date "2004-10-01" @default.
- W2215440030 modified "2023-09-22" @default.
- W2215440030 title "A Robust Inverse Kinematics Scheme for Six Axis Robot with Wrist Offset (ICPE’04)" @default.
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