Real time inverse kinematics for general 6R manipulators

  title={Real time inverse kinematics for general 6R manipulators},
  author={Dinesh Manocha and John F. Canny},
The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipulators The main interest has been in inverse kinematics of a six revolute jointed manipulator with arbitrary geometry It has been recently shown that the joints of a general R manipulator can orient themselves in di erent con gurations at most for a… CONTINUE READING



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