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Frontiers of Mechanical Engineering >> 2022, Volume 17, Issue 2 doi: 10.1007/s11465-022-0681-7
General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;2. School of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
Abstract
Keywords
inverse kinematics ; Paden–Kahan subproblems ; three-joint subproblems ; product of exponential ; closed-form solution
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