Geometric approach to solving inverse kinematics of six DOF robot with spherical joints

Inverse kinematics is a fundamental concept in robotics that plays a crucial role in a robot’s ability to perform tasks. In this contribution, we propose a novel geometric approach based on vector calculus to solve the inverse kinematics problem. The primary advantage of this approach originates fr...

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Bibliographic Details

Published in:	Acta Polytechnica
Main Authors:	Nacer Hadidi, Mohamed Bouaziz, Chawki Mahfoudi, Mohamed Zaharuddin
Format:	Article
Language:	English
Published:	CTU Central Library 2023-11-01
Subjects:	robotic forward kinematics inverse kinematics geometric modelling space geometry
Online Access:	https://ojs.cvut.cz/ojs/index.php/ap/article/view/8672