Published July 1987
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An improved method of inverse kinematics calculation for a six-link manipulator
- 1. Japan Atomic Energy Research Inst., Tokai, Ibaraki. Tokai Research Establishment
Description
As one method of solving the inverse problem related to a six-link manipulator, an improvement was made of previously proposed calculation algorithm based on a solution of an algebraic equation of the 24-th order. In this paper, the same type of a polynomial was derived in the form of the equation of 16-th order, i.e., the order reduced by 8, as compared to previous algorithm. The accuracy of solutions was identified to be much refined. (author)
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Additional details
Publishing Information
- Imprint Pagination
- 27 p.
- Report number
- JAERI-M--87-104
INIS
- Country of Publication
- Japan
- Country of Input or Organization
- Japan
- INIS RN
- 19009065
- Subject category
- S42: ENGINEERING; S99: GENERAL AND MISCELLANEOUS;
- Descriptors DEI
- ACCURACY; ALGEBRA; ALGORITHMS; JOINTS; MANIPULATORS; MECHANICS; ROBOTS
- Descriptors DEC
- EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; MATHEMATICS; REMOTE HANDLING EQUIPMENT