| contributor author | E. D. Pohl | |
| contributor author | H. Lipkin | |
| date accessioned | 2017-05-08T23:42:05Z | |
| date available | 2017-05-08T23:42:05Z | |
| date copyright | September, 1993 | |
| date issued | 1993 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27607#509_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/112366 | |
| description abstract | A new method exploiting complex numbers in the inverse kinematic solution of serial robotic manipulators is presented. If a prescribed end effector location is outside of the manipulator workspace, complex joint values result. While they cannot be implemented physically, they may be mapped to real numbers. The result approximates the prescribed location. For many industrial manipulators, mapped solutions may be explained using spherical and planar dyads. An important criterion characterizes error minimization properties, and is illustrated for a 3R regional robot. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Complex Robotic Inverse Kinematic Solutions | |
| type | Journal Paper | |
| journal volume | 115 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2919219 | |
| journal fristpage | 509 | |
| journal lastpage | 514 | |
| identifier eissn | 1528-9001 | |
| keywords | Robots | |
| keywords | Materials properties | |
| keywords | End effectors | |
| keywords | Errors AND Manipulators | |
| tree | Journal of Mechanical Design:;1993:;volume( 115 ):;issue: 003 | |
| contenttype | Fulltext | |