A Comparative Study of Three Inverse Kinematic Methods of Serial Industrial Robot Manipulators in the Screw Theory Framework
In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45696 |