New Strategy to Approach the Inverse Kinematics Model for Manipulators with Rotational Joints

The chapter describes a new strategy to approach the solution of the inverse kinematics problem for robot manipulators. A method to determine a polynomial model approximation for the joints positions is described by applying the divided differences with a new point of view for lineal path in the end...

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Published inInTech eBooks
Main Author Vargas-Soto, José-Emilio
Format Book Chapter
LanguageEnglish
Published IntechOpen 01.01.2016
Subjects
Computers
Machine Theory
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ISBN9789535126706
9535126709
DOI10.5772/63541

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Abstract The chapter describes a new strategy to approach the solution of the inverse kinematics problem for robot manipulators. A method to determine a polynomial model approximation for the joints positions is described by applying the divided differences with a new point of view for lineal path in the end-effector of the robot manipulator. Results of the mathematical approach are analysed by obtaining the kinematics inverse model and the approximate model for lineal trajectories of a manipulator for three degrees of freedom. Finally, future research approaches are commented.
AbstractList The chapter describes a new strategy to approach the solution of the inverse kinematics problem for robot manipulators. A method to determine a polynomial model approximation for the joints positions is described by applying the divided differences with a new point of view for lineal path in the end-effector of the robot manipulator. Results of the mathematical approach are analysed by obtaining the kinematics inverse model and the approximate model for lineal trajectories of a manipulator for three degrees of freedom. Finally, future research approaches are commented.
Author Vargas-Soto, José-Emilio
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Snippet The chapter describes a new strategy to approach the solution of the inverse kinematics problem for robot manipulators. A method to determine a polynomial...
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Title New Strategy to Approach the Inverse Kinematics Model for Manipulators with Rotational Joints
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