Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space

The work defines in a new way the different types of solutions of the inverse kinematics (IK) problem for planar robots with a serial topology and presents an algorithm for solving it. The developed algorithm allows the finding of solutions for a wide range of robots by using a geometric approach, r...

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Vydané v:	Algorithms Ročník 15; číslo 12; s. 469
Hlavní autori:	Chavdarov, Ivan, Naydenov, Bozhidar
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Basel MDPI AG 01.12.2022
Predmet:	Algorithms Angles (geometry) Configurations End effectors Inverse kinematics Kinematics Mathematical analysis Methods Motion planning Neural networks Numerical analysis Polar coordinates robot Robot dynamics Robotics Robotics industry Robots singular configurations Topology Workspace workspace and configuration space
ISSN:	1999-4893, 1999-4893
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