• DocumentCode
    2010564
  • Title

    General purpose inverse kinematics using lookup-tables

  • Author

    Halfar, H.

  • Author_Institution
    Dept. of logistics Eng., Hochschule Reutlingen, Reutlingen, Germany
  • fYear
    2013
  • fDate
    25-28 Feb. 2013
  • Firstpage
    69
  • Lastpage
    75
  • Abstract
    In this paper, a general purpose inverse kinematics algorithm is proposed. First, an introduction into the topic and an overview over the recent research about this topic is given. The proposed inverse kinematics approach, divided into a configuration and calculation part, is described. Finally, results of a example experiment and some estimations about the accuracy as well as a conclusion is given.
  • Keywords
    robot kinematics; table lookup; general purpose inverse kinematics; lookup-tables; robot controller; Jacobian matrices; Joints; Kinematics; Linear approximation; Robot kinematics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Industrial Technology (ICIT), 2013 IEEE International Conference on
  • Conference_Location
    Cape Town
  • Print_ISBN
    978-1-4673-4567-5
  • Electronic_ISBN
    978-1-4673-4568-2
  • Type

    conf

  • DOI
    10.1109/ICIT.2013.6505650
  • Filename
    6505650
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2010564