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Inverse Kinematics

  • Reza N. Jazar
Chapter

Abstract

What are the joint variables for a given configuration of a robot? This is the inverse kinematic problem. The determination of the joint variables reduces to solving a set of nonlinear coupled algebraic equations. Although there is no standard and generally applicable method to solve the inverse kinematic problem, there are a few analytic and numerical methods to solve the problem. The main difficulty of inverse kinematic is the multiple solutions such as the one that is shown in Figure 6.1 for a planar 2R manipulator.

Keywords

Inverse Kinematic Circular Path Joint Variable Forward Kinematic Equal Section 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media, LLC 2010

Authors and Affiliations

  1. 1.School of Aerospace, Mechanical, and Manufacturing EngineeringRMIT UniversityMelbourneAustralia

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