Geometric Approach in Solving Inverse Kinematics of PUMA Robots


A geometric approach for deriving a consistent joint solution of a six-point PUMA1 robot is presented. The approach calls for the definition of various possible arm configurations based on the link coordinate systems and human arm geometry. These arm configurations are then expressed in an exact mathematical way to allow the construction of arm… (More)


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@article{Lee1984GeometricAI, title={Geometric Approach in Solving Inverse Kinematics of PUMA Robots}, author={C. S. G. Lee and Micah S Ziegler}, journal={IEEE Transactions on Aerospace and Electronic Systems}, year={1984}, volume={AES-20}, pages={695-706} }