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Joint Solutions Derived via Optimization Technique under Formal Separation of Joint Variables

  • Shinobu Sasaki
  • Yoshikuni Shinohara
Conference paper

Abstract

In this paper, a useful approach is presented to solve the inverse kinematics of manipulators by relating an expression as to the position and orientation of manipulator hand to an optimization technique. The key point in this approach is to depart from the usual idea of dealing with all given joint variables at one time and to pay attention to only three of them, while the remaining three variables are considered to have dependent relationships with the first three variables.

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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Shinobu Sasaki
    • 1
  • Yoshikuni Shinohara
    • 1
  1. 1.Japan Atomic Energy Research InstituteIbaraki-kenJapan

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