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Real time inverse kinematics for general 6R manipulators

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2 Author(s)
D. Manocha ; Div. of Comput. Sci., California Univ., Berkeley, CA, USA ; J. F. Canny

The authors present a real-time algorithm for the inverse kinematics of general 6R robot manipulators. The algorithm involves symbolic preprocessing, matrix computation and a variety of numerical techniques. The numerical accuracy of these operations is well understood and for most cases it is possible to compute accurate solutions using 64-b IEEE floating point arithmetic available on most workstations. The average running time of the algorithm, for most cases, is 11 ms on an IBM RS/6000 workstation

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992