Geometric Approach in Solving Inverse Kinematics of PUMA Robots

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

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