Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem
The traditional Denavit–Hatenberg method is a relatively mature method for modeling the kinematics of robots. However, it has an obvious drawback, in that the parameters of the Denavit–Hatenberg model are discontinuous, resulting in singularity when the adjacent joint axes are parallel or close to p...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-12-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418818297 |