Trajectories generation for a robotic manipulator

@article{Nunes2012TrajectoriesGF,
  title={Trajectories generation for a robotic manipulator},
  author={Luiz E. N. do P. Nunes and Francisco Jos{\'e} Grandinetti and John Rojas Camargo and V{\'i}ctor Manuel Arroyo Correa},
  journal={2012 IEEE International Conference on Information Science and Technology},
  year={2012},
  pages={128-132}
}
The inverse kinematics determines the joint angles that result in the desired position of the manipulator's end-effector with regard to the reference coordinated system. The inverse kinematics solution is difficult a time that the mapping between the Cartesian space and the joint space is nonlinear and involves equations that can have multiple solutions… CONTINUE READING