A Robot Manipulator With 16 Real Inverse Kinematic Solution Sets
- 1 October 1989
- journal article
- other
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 8 (5) , 75-79
- https://doi.org/10.1177/027836498900800507
Abstract
A solution search algorithm based on a one-dimensional numerical approach to the inverse kinematic problem (pre sented in an earlier paper) led to the discovery of a six-DOF manipulator able to position and orient its end-effector in 16 distinct configurations for a given end-effector pose (position and orientation). This paper discusses the consequences of such a discovery and presents a description of the manipula tor, the end-effector pose, and the 16 kinematic solutions.Keywords
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