An iterative algorithm for the robot coordinate transformation
- 1 January 1983
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1217-1219
- https://doi.org/10.1109/cdc.1983.269717
Abstract
For some configurations of so-called articulated robot arms, the inverse coordinate transformation (that is, from cartesian coordinates to their arm joint values equivalents), cannot be solved (or is not practical to be solved) in closed form. An iterative procedure for the inverse transformation, developed for this arm, is presented.Keywords
This publication has 2 references indexed in Scilit:
- The Impacts of Industrial RobotsPublished by Defense Technical Information Center (DTIC) ,1981
- A Kinematic Notation for Lower-Pair Mechanisms Based on MatricesJournal of Applied Mechanics, 1955