Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method
The 6- DOF joint robot with offset wrist can’t satisfy the Pieper rule,thus there are no closed- form inverse kinematics solutions for them. Compared with non- offset robot,a numerical iterative algorithm that integrates the closed- form inverse solutions of non- offset robot with the modified Newto...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.027 |