Abstract
The authors present a real-time algorithm for the inverse kinematics of general 6R robot manipulators. The algorithm involves symbolic preprocessing, matrix computation and a variety of numerical techniques. The numerical accuracy of these operations is well understood and for most cases it is possible to compute accurate solutions using 64-b IEEE floating point arithmetic available on most workstations. The average running time of the algorithm, for most cases, is 11 ms on an IBM RS/6000 workstation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
WorkstationInverse kinematicsComputer scienceKinematicsIBMInverseIBM PC compatiblePreprocessorComputationAlgorithmRobotPoint (geometry)Artificial intelligenceMathematicsProgramming languageOperating systemSoftware
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Publication Info
- Year
- 2003
- Type
- article
- Pages
- 383-389
- Citations
- 76
- Access
- Closed
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Cite This
Dinesh Manocha,
John Canny
(2003).
Real time inverse kinematics for general 6R manipulators.
, 383-389.
https://doi.org/10.1109/robot.1992.220309
Identifiers
- DOI
- 10.1109/robot.1992.220309