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Exact solution of inverse kinematic problem of 6R serial manipulators using Clifford Algebra

Published online by Cambridge University Press:  09 August 2012

Eriny W. Azmy
Eriny W. Azmy*
Affiliation:
School of Mathematical Sciences, Faculty of Science, Monash University, Melbourne, Australia
*
*Corresponding author. E-mail: eriny.azmy@monash.edu
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Summary

In this paper, Clifford Algebra is used to model and facilitate solving the inverse kinematic problem for robots with only two consecutive parallel axes. It is shown that when a solution exists, it is usually the case that one of the angles of rotation can be arbitrarily chosen from a union of intervals. The remaining angles are then uniquely determined. Of course, there are cases when no solution exists, such as when the object is out of reach. But typically, when solutions exist, there are infinitely many sets of solutions.

Keywords

Clifford AlgebraInverse kinematic problem6R serial robot
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 417 - 422
Copyright
Copyright © Cambridge University Press 2012

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