2002•Unpublished venueRequires access
A systematic approach to robot inverse kinematics
Jinhui Wu
Open publisher page 2 citations
Abstract
A systematic approach to solving the inverse kinematics problem is presented. This approach identifies the complexity of an inverse kinematics problem quickly and then finds the solution more easily than conventional methods. Examples are given to demonstrate the implementation of the proposed approach. The approach employs the matrix exponential and the concept of cluster joints