Abstract
Real‐time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end‐effector. The development of a coherent, general‐purpose framework, incorporating position, velocity and acceleration transformations, is the theme of this paper. In this framework, the computational requirements of a new inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open‐chain) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its efficacy and feasibility for real‐time applications.
| Original language | English |
|---|---|
| Pages (from-to) | 527-549 |
| Number of pages | 23 |
| Journal | Journal of Robotic Systems |
| Volume | 4 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1987 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
General‐purpose inverse kinematics transformations for robotic manipulators. / Ang, Marcelo H.; Tourassis, Vassilios D.
In: Journal of Robotic Systems, Vol. 4, No. 4, 1987, p. 527-549.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - General‐purpose inverse kinematics transformations for robotic manipulators
AU - Ang, Marcelo H.
AU - Tourassis, Vassilios D.
PY - 1987
Y1 - 1987
N2 - Real‐time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end‐effector. The development of a coherent, general‐purpose framework, incorporating position, velocity and acceleration transformations, is the theme of this paper. In this framework, the computational requirements of a new inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open‐chain) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its efficacy and feasibility for real‐time applications.
AB - Real‐time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end‐effector. The development of a coherent, general‐purpose framework, incorporating position, velocity and acceleration transformations, is the theme of this paper. In this framework, the computational requirements of a new inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open‐chain) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its efficacy and feasibility for real‐time applications.
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U2 - 10.1002/rob.4620040405
DO - 10.1002/rob.4620040405
M3 - Article
VL - 4
SP - 527
EP - 549
JO - Journal of Field Robotics
JF - Journal of Field Robotics
SN - 1556-4959
IS - 4
ER -