Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space
The work defines in a new way the different types of solutions of the inverse kinematics (IK) problem for planar robots with a serial topology and presents an algorithm for solving it. The developed algorithm allows the finding of solutions for a wide range of robots by using a geometric approach, r...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
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| Series: | Algorithms |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1999-4893/15/12/469 |