By Topic

Kinematics of complex joint angles in robotics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
E. D. Pohl ; George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; H. Lipkin

A method for using complex numbers in the kinematic solution of robotic manipulators is presented. The inverse kinematics algorithm of a manipulator produces complex joint angles if it is given an end effector location outside its workspace. Although complex joint angles cannot be implemented physically, they can be converted to real numbers through a suitable mapping, and the robot approximates the configuration required to produce the desired location within the limits of its workspace. It is shown that for certain manipulators, the real-part mapping produces a minimization of the end effector location error. Examples of the technique using 2R and 3R manipulators are presented

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990