IEEE - Institute of Electrical and Electronics Engineers, Inc. - From D-H to inverse kinematics: A fast numerical solution for general robotic manipulators using parallel processing

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Siavash Farzan ; G. N. DeSouza
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 2,507 - 2,513
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696709
Regular:

We propose a robust and fast solution for the inverse kinematic problem of general serial manipulators - i.e. any number and any combination of revolute and prismatic joints. The algorithm only... View More

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