Abstract
Various methods of implementing forward and inverse kinematics of six-axes industrial robots are analyzed in this paper from the viewpoint of numerical conditioning and convergence speed both close to a solution and away from it. Computational complexities are derived in terms of the number of arithmetic operations and comparisons are made by observing the actual CPU time consumption. The formulations presented make use of different sets of invariants describing the orientation of the gripper. It is shown that, in inverse kinematics, there is a tradeoff between numerical stability and computational speed.
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An abridged version of this paper was presented in the 1992 IEEE International Conference on Robotics and Automation, 1992 [1].
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Tandirci, M., Angeles, J. & Darcovich, J. On rotation representations in computational robot kinematics. J Intell Robot Syst 9, 5–23 (1994). https://doi.org/10.1007/BF01258311
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DOI: https://doi.org/10.1007/BF01258311