@article{Lee96,
title = {Inverse kinematics of serial-chain manipulators},
author = {H. Y. Lee and C. F. Reinholtz},
journal = {Journal of Mechanical Design},
month = {September},
number = {3},
pages = {396-404},
volume = {118},
year = {1996},
description = {robotica-bib},
abstract = {This paper proposes a unified method for the complete solution of
the inverse kinematics problem of serial-chain manipulators. This
method reduces the inverse kinematics problem for any 6 degree-of-freedom
serial-chain manipulator to a single univariate polynomial of minimum
degree from the fen est possible closure equations. It is shown that
the univariate polynomials of 16th degree for the 6R, 5R-P and 4R-C
manipulators with general geometry can be derived from 14, 10 and
6 closure equations, respectively, while the 8th and 4th degree polynomials
for all the 4R-2P, 3R-P-C, 2R-2C, 3R-E and 3R-S manipulators can
be derived from only 2 closure equations. All the remaining joint
variables follow fi om linear equations once the roots of the univariate
polynomials are found. This method works equally well for manipulators
with special geometry. The minimal properties may provide a basis
for a deeper understanding of manipulator geometry, and at the same
time, facilitate the determination of-all possible configurations
of a manipulator with respect to a given end- effector position,
the determination of the workspace and its subspaces with the different
number of configurations, and the identification of singularity positions
of the end-effector. This paper also clarifies the relationship between
the three known solutions of the general 6R manipulator as originating
front a single set of 14 equations by the first author.},
keywords = {imported }
}
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