RESEARCH PAPERS: Robotics and Related Mechanisms Papers

On the Numerical Inverse Kinematics of Robotic Manipulators

[+] Author and Article Information
Kazem Kazerounian

University of Connecticut, Deptartment of Mechanical Engineering, U–139, 191 Auditorium Road, Storrs, CT 06268

J. Mech., Trans., and Automation 109(1), 8-13 (Mar 01, 1987) (6 pages) doi:10.1115/1.3258791 History: Received July 10, 1986; Online November 19, 2009


Based on the sequential motion of joints, a method is developed for the numerical inverse kinematics of serial manipulators. This algorithm is stable and computationally efficient and uses the zero position analysis method for robotic manipulators.

Copyright © 1987 by ASME
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