Abstract
A general method for solving the robot inverse kinematics problem is presented. The method is based upon the general elimination method to obtain the equivalent system of equations which are ‘triangularized’ and the solutions of the inverse kinematics problem can be solved by backsubstitutions.
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Markus, L. Application of the general elimination method in robot kinematics. J Intell Robot Syst 11, 109–116 (1994). https://doi.org/10.1007/BF01258297
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DOI: https://doi.org/10.1007/BF01258297