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Abstract:
Based on the
differential relationships represented with simplified Jacobian
matrices, the paper presents the solution for inverse kinematics along a
Cartesian path of industrial robots. As only a 3×3 linear equations need
be solved, the computation is greatly simplified. The singular value
decomposition is used to solve the set of equations. By giving the
homogeneous solution of the set of equations within the limits of
differential motion and changing the hand motion appropriately, the
joint motion at singularity is better determined. Both the sudden change
of joint motion is eliminated and the deviation of the hand motion is
under control to a large extend. At the end of the paper, the
computational results for inverse kinematics of a industrial robot
without explicit solution are given.
Key words:
Robot
Kinematics Solution
Received
19921025, received in revised form 19930204
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