Abstract
In this paper, an inverse kinematic model has been used for the computation of joint coordinates, given the Cartesian coordinates of five-axis manipulators of arbitary architecture. The model leads to a formally overdetermined nonlinear algebraic system of six equations in five unknowns. Their least-squares approximations produce the desired joint coordinates. Monte Carlo method is developed to find the initial guess for these nonlinear equations. This procedure is illustrated on a five axis robot. The algorithm developed is found to be more efficient when compared with that of continuation techniques. The method developed can also be used to analyze high nonlinear equations in kinematics. Then using an optimization algorithm the inverse kinematic solutions have been obtained.
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© 1988 Springer-Verlag New York Inc.
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Shen, H., Radharamanan, R. (1988). Inverse Kinematic Analysis for a Five Axis Robot Using Monte Carlo Method. In: Radharamanan, R. (eds) Robotics and Factories of the Future ’87. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-73890-6_38
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DOI: https://doi.org/10.1007/978-3-642-73890-6_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-73892-0
Online ISBN: 978-3-642-73890-6
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