Name
Abstract | ||
|---|---|---|
Various methods of implementing forward and inverse kinematics of six-axis industrial robots are analyzed 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 |
|---|---|---|
1992 | 10.1109/ROBOT.1992.220315 | Nice |
Keywords | Field | DocType |
computational complexity,convergence of numerical methods,industrial robots,kinematics,matrix algebra,CPU time consumption,computational complexity,computational kinematics,computational speed,convergence speed,forward kinematics,gripper,inverse kinematics,matrix algebra,numerical conditioning,numerical stability,rotation representations,six-axis industrial robots | Convergence (routing),Kinematics,Inverse kinematics,CPU time,Control theory,Robot kinematics,Control engineering,Robot,Numerical stability,Mathematics,Computational complexity theory | Conference |
Volume | Issue | Citations |
1992 | 1 | 3 |
PageRank | References | Authors |
0.58 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Murat Tandirci | 1 | 3 | 0.58 |
| Jorge Angeles | 2 | 147 | 17.63 |
| John Darcovich | 3 | 3 | 0.58 |