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Manipulator kinematics and the epsilon algebra

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1 Author(s)
Walker, M.W. ; University of Michigan Ann Arbor, Michigan

A new algebra is defined for use in problems of manipulator kinematics. With this algebra the solution to the inverse kinematics problem can be solved for any time derivative of the joint position using the same program by simply changing the order of the algebra. An example Ada program is used for illustration.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987

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