2009 | OriginalPaper | Buchkapitel
Explicit Algebraic Solution of Geometrically Simple Serial Manipulators
verfasst von : Martin Pfurner
Erschienen in: Computational Kinematics
Verlag: Springer Berlin Heidelberg
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An algorithm is developed to solve the inverse kinematics of special serial manipulators that contain a spherical or planar sub-chain anywhere within an entire six joint sequence. It is known, for such cases, that the inverse kinematics is solvable in closed form, i.e., with a univariate polynomial of degree four or less; sometimes even with a quadratic equation. This algorithm yields explicit algebraic solutions for these kind of manipulators even when the design or the end-effector pose is not explicitly given.