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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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