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• W3120227323 abstract "The analyzed robot has 7 actuators and therefore it is a redundant robot whose position and orientation of the end-effector can generally be set in an infinite number of ways. Determination of joint angles that implement a set position and orientation of the end-effector is difficult for this robot. The paper presents the method of determining analytical formulas for the inverse kinematics problem of the analyzed robot and presents the idea of selection a particular solution. The basic idea of the trajectory tracking algorithm is that a slight change in the position and orientation of the end-effector must also be associated with a slight change in angular positions on individual joints. The paper shows the operation of the tracking algorithm of an exemplary trajectory, both simulation and for real KINOV A® Gen3 Ultra lightweight robot." @default.
• W3120227323 created "2021-01-18" @default.
• W3120227323 creator A5084154381 @default.
• W3120227323 date "2020-12-13" @default.
• W3120227323 modified "2023-10-02" @default.
• W3120227323 title "Inverse Kinematics Determination and Trajectory Tracking Algorithm Development of a Robot with 7 Joints" @default.
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• W3120227323 doi "https://doi.org/10.1109/icarcv50220.2020.9305334" @default.
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