New Inferential Method and Efficient Solutionsfor Inverse Kinematics Equations of Robot MOTOMAN
WANG Xue-song
XU Shi-fan
HAO Ji-fei
Abstract：A new inferential method for inverse kinematics equation of MOTOMAN manipulators was pre-sented, and efficient solutions of inverse kinematics problem were given. The method needn't change the co-ordinates of the manipulator end effector, and analytic solutions of the problem can be obtained. Additional-ly, a lot of multiplications of inverse matrices are avoided in the course of deduction. This method is very sim-ple and useful, so it is suitable for control and simulation. Simulation verifies the correctness of computation.
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Publication Date：2001-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 73-76 )