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Closed-Form Solution of Inverse Kinematics for the Puma Manipulator

  • Marko I. Vuskovic
  • Socorro C. Hunt
Conference paper

Abstract

A closed-form solution of inverse kinematics for the Unimation PUMA manipulator, which is an improved version of standard algorithms initially proposed by R. Paul, is discussed. Standard algorithms use a polar transformation to solve an equation of the form a cos(x) - b sin(x) =p. Here, the equation is considered as a part of two-dimensional orthogonal transformation. This yields more straightforward and more efficient solution for inverse kinematics. The improvement of the time-efficiency for single solutions is more than 20% and for multiple solutions more than 40%.

Keywords

Inverse Kinematic Simple Manipulator Inverse Kinematics Problem Joint Displacement Companion Equation 
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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References

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Copyright information

© Springer-Verlag New York Inc. 1988

Authors and Affiliations

  • Marko I. Vuskovic
    • 1
  • Socorro C. Hunt
    • 1
  1. 1.Department of Mathematical SciencesSan Diego State UniversitySan DiegoUSA

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