Geometric approach to solving inverse kinematics of six DOF robot with spherical joints
Nacer Hadidi,
Mohamed Bouaziz,
Chawki Mahfoudi
et al.
Abstract: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 from the solutions, which exhibit a linear form and uncoupled equations. To validate the effectiveness and correctness of our proposed method, we constructed a six-degrees-of-freedom robot. This robot is controlled by … Show more
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