Complex Robotic Inverse Kinematic Solutions

[+] Author and Article Information
E. D. Pohl, H. Lipkin

The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332–0405

J. Mech. Des 115(3), 509-514 (Sep 01, 1993) (6 pages) doi:10.1115/1.2919219 History: Received March 01, 1990; Online June 02, 2008


A new method exploiting complex numbers in the inverse kinematic solution of serial robotic manipulators is presented. If a prescribed end effector location is outside of the manipulator workspace, complex joint values result. While they cannot be implemented physically, they may be mapped to real numbers. The result approximates the prescribed location. For many industrial manipulators, mapped solutions may be explained using spherical and planar dyads. An important criterion characterizes error minimization properties, and is illustrated for a 3R regional robot.

Copyright © 1993 by The American Society of Mechanical Engineers
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