Abstract
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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References
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© 1991 Springer-Verlag Wien
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Milenkovic, V., Milenkovic, V.J., Milenkovic, P.H. (1991). Inverse Kinematics of Not Fully Serial Robot Linkages With Nonsingular Wrists. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_38
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DOI: https://doi.org/10.1007/978-3-7091-4433-6_38
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Print ISBN: 978-3-211-82302-6
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