System for determining manipulator coordinates

Details System for determining manipulator coordinates System for determining manipulator coordinates

1991-11-20

1994-03-08

MacDonald, Allen R.

395 98, G05B 1900

Patent

active

052934616

ABSTRACT:
An inverse kinematics method of determining joint variables for a manipulator is obtained by forming a model by modifying offset values of a selected arm segments of the manipulator to define a model for which it is possible to derive closed-form inverse kinematics equations for solving the joint variables for said model, developing from said closed-form inverse kinematics equations a system of not more than 3 non-linear equations in not more than 3 unknowns which when solved give an inverse kinematics solution for the model, solving the system of at most 3 non-linear equations to provide the inverse kinematic solution for said manipulator to determine its joint variables.

REFERENCES:
patent: 4887222 (1989-12-01), Miyake et al.

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