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. For this purpose, a general-purpose framework, incorporating position, velocity, and acceleration, is developed. The computation requirements of a novel inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open-channel) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its feasibility for real-time applications.
|Number of pages||6|
|Publication status||Published - Dec 1 1986|
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