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Automation of the Welding Process by Use of Industrial Robots Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Application of Iterative Methods to Solve Inverse Kinematics Problem of Robot

Author : Avdo Voloder

Published in: New Technologies, Development and Application

Publisher: Springer International Publishing

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Abstract

One of the most important segments of robotics is solving inverse kinematics of the robot. The paper presents the application of numerical methods iteration by individual coordinates, to solve the inverse problem of kinematics of the robot. This problem involves the determination of unknown internal coordinates of the robot, if they know the external coordinates. Using this method, the solution converges quickly, as can be seen from the illustrative examples in the paper.

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Literature
1.
Sciavicco, L., Siciliano, B.: Modeling and Control of Robot Manipulators, International Editions edn. McGraw-Hill, New York (1996)
2.
Lenarcic, J., Thomas, F. (eds.): Robot Kinematics, Theory and Applications. Kluwer Academic Publisher, Dordrecht (2002)
3.
Dolecek, V., Karabegovic, I.: Robotika, Univerzitetski udžbenik, Bihać (2002)
4.
Christensen, H.I.: Robot Kinematics, Centre for Autonomous Systems Kungl Tekniska Hogskolan (2006)
5.
Lenarcic, J., Stanisic, M.: Advances in Robot Kinematics (2010). 12th ARK International Symposium, pp. 475–482
Metadata
Title
Application of Iterative Methods to Solve Inverse Kinematics Problem of Robot
Author
Avdo Voloder
Copyright Year
2019
Book
New Technologies, Development and Application

Print ISBN: 978-3-319-90892-2

Electronic ISBN: 978-3-319-90893-9

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-90893-9_18