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Inverse Kinematics

  • Reza N. Jazar

Abstract

Determination of joint variables in terms of the end-effector position and orientation is called inverse kinematics. Mathematically, inverse kinematics is searching for the elements of vector q when a transformation is given as a function of the joint variables q1, q2, q3, ...
$$ {}^0T_n = {}^0T_1 (q_1 ){}^1T_2 (q_2 ){}^2T_3 (q_3 ){}^3T_4 (q_4 ) \cdots {}^{n - 1}T_n (q_n ) $$
(6.1)

Keywords

Inverse Kinematic Revolute Joint Joint Variable Forward Kinematic Dual Quaternion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. Asada, H., and Slotine, J. J. E.. 1986, Robot Analysis and Control, John WTiley & Sons, New York.Google Scholar
  2. Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.Google Scholar
  3. Spong, M. W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.Google Scholar
  4. Tsai, L. W., 1999, Robot Analysis, John Wiley Sons, New York.Google Scholar
  5. Wang. K., and Lien, T., 1988, Structure, design and kinematics of robot manipulators, Robotica, 6, 299–306.CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Reza N. Jazar
    • 1
  1. 1.Department of Mechanical EngineeringManhattan CollegeRiverdale

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