A systematic approach to inverse kinematics of hybrid actuation robots

@article{Sun2012ASA,
  title={A systematic approach to inverse kinematics of hybrid actuation robots},
  author={Zhihong Sun and Dong Bin He and W. J. Zhang},
  journal={2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
  year={2012},
  pages={300-305}
}
Hybrid actuation robots are mechanisms that are driven by at least one constant velocity motor and one servo motor. Such a robot or mechanism has found a growing number of applications. In designing such a mechanism there is a need to perform inverse kinematics due to presence of the servo motor. Inverse kinematics of a hybrid actuation mechanism is significantly different from that of a mechanism that is driven by the servo motor only. In literature, there is a lack of a general approach to… CONTINUE READING