Iterative coordinate transformation procedure for one class of robots

@article{Lumelsky1984IterativeCT,
  title={Iterative coordinate transformation procedure for one class of robots},
  author={Vladimir J. Lumelsky},
  journal={IEEE Transactions on Systems, Man, and Cybernetics},
  year={1984},
  volume={SMC-14},
  pages={500-505}
}
A necessary feature of robot systems is a capability to process robot paths in terms of Cartesian coordinates. However, the so-called articulated robot arms which represent the more advanced systems operate in terms of their revolute and sliding joint coordinates, and these do not lend themselves easily to translation into Cartesian equivalents. As a rule, the direct (joint-to-Cartesian space) coordinate transformation can be solved for in closed form. As for the inverse (Cartesian-to-joint… CONTINUE READING