Iterative Solutions to the Inverse Geometric Problem for Manipulators with no Closed Form Solution
A set of new iterative solutions to the inverse geometric problem is presented. The approach is general and does not depend on intersecting axes or calculation of the Jacobian. The solution can be applied to any manipulator and is well suited for manipulators for which convergence is poor for conven...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2008-07-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2008/MIC-2008-3-1.pdf |