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Approximate calculation of robot inverse kinematics applied to arc welding

  • Section 4: Kinematics
  • Conference paper
  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

The paper presents a new approach to the inverse kinematics calculation which consists in the approximation of Cartesian orientations of the robot end effector. The approach can be well used in various practical applications, such as arc welding, and is extremely effective when applied to robot manipulators which do not have a closed-form solution to the inverse kinematics problem. Several numerical experiments are described that show the validity of the proposed approach.

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References

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Author information

Authors and Affiliations

  1. Jožef Stefan Institute, University of Edvard Kardelj, Jamova 39, 61111, Ljubljana, Yugoslavia

    Jadran Lenarčič & Andreja Košutnik

Authors
  1. Jadran Lenarčič
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  2. Andreja Košutnik
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Lenarčič, J., Košutnik, A. (1990). Approximate calculation of robot inverse kinematics applied to arc welding. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042537

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  • DOI: https://doi.org/10.1007/BFb0042537

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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