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Generic Inverse Kinematics Approach for Robotics Applications
Author(s) -
Krenn R.,
Schäfer B.
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310354
Subject(s) - inverse kinematics , kinematics , modular design , computer science , robotics , software , forward kinematics , inverse , key (lock) , artificial intelligence , self reconfiguring modular robot , robot , robot kinematics , feature (linguistics) , control engineering , simulation , computational science , engineering , programming language , mobile robot , mathematics , robot control , geometry , operating system , physics , classical mechanics , linguistics , philosophy
The concept of DLR's new light‐weight robot generation is a modular one. It offers an almost infinite number of kinematics configurations. For pre‐simulations a virtual assembly and modeling tool was developed that supports online simulations using commercial multi‐body simulation software. Here, a key feature is the generic implementation of the inverse kinematics in order to deal with arbitrary kinematics. The paper addresses a method that combines the advantages of two basic algorithms and that can be easily implemented in MBS software.