Inverse Kinematics of Not Fully Serial Robot Linkages With Nonsingular Wrists

  • Veljko Milenkovic
  • Victor J. Milenkovic
  • Paul H. Milenkovic
Conference paper


The new V-point method transforms Cartesian coordinates to joint angles in robots with nonsingular wrists: wrists with non-serial linkages and more joints than degrees of freedom. While such wrists improve robot motion for predetermined paths, a rapid inverse is needed to provide the response time required for guidance by vision or other sensing. The V-point method, faster than current recursive procedures, approaches the speed of closed form solution of serial linkages. The method is derived for a wrist by Milenkovic [2,3,11] and outlined for other nonsingular wrists, including the Molaug wrist [4] (Trallfa robot, c. 1970).


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Veljko Milenkovic
    • 1
  • Victor J. Milenkovic
    • 2
  • Paul H. Milenkovic
    • 3
  1. 1.USA
  2. 2.Division of Applied SciencesHarvard UniversityCambridgeUSA
  3. 3.Department of Electrical and Computer EngineeringUniversity of Wisconsin-MadisonMadisonUSA

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