FENG Qiaosheng, LUI Danfei. A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS[J]. ROBOT, 1997, 19(2): 143-146,150.
Citation: FENG Qiaosheng, LUI Danfei. A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS[J]. ROBOT, 1997, 19(2): 143-146,150.

A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS

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  • Received Date: September 27, 1995
  • Published Date: March 14, 1997
  • The key for symbolically solving the inverse kinematics of robots with a computer is whether the analyticall solution with simple equations in the form asin(x)+bcos(x)=c or ax=b are recursively decoupled. Based upon Pauls ideas, this paper proposes a new decoupling method that can recursively decouple the position equations to obtain the simple and analyticall solvable equations when Pauls method fails. This method is a supplement of Paul method.
  • 1 Paul R P.Robot Manipulators:Mathematics,Programming,and Control.The MIT Press,1981
    2 Herrera-Bendezu L G,M u E,Cai J T.Symbolic Computation of Robot Manipulator Kinematics.IEEE Proceedings,1988:993~998
    3 Rieseler H,Wahl F M.Fast Symbolic Computation of Inverse Kinematics of Robots.IEEE Proceedings,1990:462~467

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