Name
Abstract | ||
|---|---|---|
Various methods of implementing forward and inverse kinematics of six-axes industrial robots are analyzed in this paper from the viewpoint of numerical conditioning and convergence speed both close to a solution and away from it. Computational complexities are derived in terms of the number of arithmetic operations and comparisons are made by observing the actual CPU time consumption. The formulations presented make use of different sets of invariants describing the orientation of the gripper. It is shown that, in inverse kinematics, there is a tradeoff between numerical stability and computational speed. |
Year | DOI | Venue |
|---|---|---|
1994 | 10.1007/BF01258311 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Computational kinematics,forward and inverse kinematics,robotic manipulators,rotation invariants | Convergence (routing),Kinematics equations,Inverse kinematics,CPU time,Control theory,Robot kinematics,Control engineering,Inverse dynamics,Robot,Numerical stability,Mathematics | Journal |
Volume | Issue | ISSN |
9 | 1-2 | 0921-0296 |
Citations | PageRank | References |
0 | 0.34 | 3 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Murat Tandirci | 1 | 0 | 0.34 |
| Jorge Angeles | 2 | 147 | 17.63 |
| John Darcovich | 3 | 0 | 0.34 |