Abstract
An algorithm is developed to solve the inverse kinematics of special serial manipulators that contain a spherical or planar sub-chain anywhere within an entire six joint sequence. It is known, for such cases, that the inverse kinematics is solvable in closed form, i.e., with a univariate polynomial of degree four or less; sometimes even with a quadratic equation. This algorithm yields explicit algebraic solutions for these kind of manipulators even when the design or the end-effector pose is not explicitly given.
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Pfurner, M. (2009). Explicit Algebraic Solution of Geometrically Simple Serial Manipulators. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_21
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DOI: https://doi.org/10.1007/978-3-642-01947-0_21
Publisher Name: Springer, Berlin, Heidelberg
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