Automated inverse-kinematics for robot off-line programming

Publisher： Cambridge University Press

E-ISSN： 1469-8668|12|1|45-53

ISSN： 0263-5747

Source： Robotica, Vol.12, Iss.1, 1994-01, pp. : 45-53

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Abstract

Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate DenavitHartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation.

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