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2022 1

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Paden–Kahan subproblems 1

closed-form solution 1

inverse kinematics 1

product of exponential 1

three-joint subproblems 1

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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0681-7

Abstract: The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblemsHowever, the simple combination of subproblems cannot solve all the inverse kinematics problems, andthere is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationshipThe NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary posturalThe inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results

Keywords： inverse kinematics     Paden–Kahan subproblems     three-joint subproblems     product of exponential     closed-form    

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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of

Journal Article