Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator

@article{Ahmed2009PerformanceAO,
  title={Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator},
  author={Sajid M. Ahmed and Alexandre N. Pechev},
  journal={2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2009},
  pages={1405-1410}
}
A control infrastructure for comparison of feedback inverse kinematics (FIK) with pseudo-inverse based methods is developed in this paper. The Kinematic model of Mitsubishi RV-1A, a six degree of freedom (DOF) robotic manipulator is constructed to map the Cartesian space trajectories into the joint space trajectories. The Denavit-Hartenberg (DH) parameters… CONTINUE READING