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On the inverse kinematics of an a priori unknown general 6R-Robot

Published online by Cambridge University Press:  14 August 2012

Friedemann Groh ,
Konrad Groh  and
Alexander Verl
Friedemann Groh
Affiliation:
Industrielle Steuerungstechnik GmbH (ISG), Stuttgart, Germany
Konrad Groh*
Affiliation:
Institut ür Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW), Universität Stuttgart, Stuttgart, Germany
Alexander Verl
Affiliation:
Institut ür Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW), Universität Stuttgart, Stuttgart, Germany
*
*Corresponding author. E-mail: konrad.groh@gmail.com.
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Summary

This paper looks at the inverse kinematics problem of an a priori unknown 6R-Robot from the representation point of view. It describes a new representation of the Euclidean motion group. With this representation, the inverse kinematics problem can be treated entirely numerical. No symbolical methods are required.

Keywords

RoboticsInverse kinematicsRepresentationEuclidean motion group
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 455 - 463
Copyright
Copyright © Cambridge University Press 2012

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