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AN INVERSE KINEMATIC SOLUTION TO THE 6 DEGREE OF FREEDOM KUKA 662 ROBOT BY REDUCTION TO AN 8TH ORDER UNIVARIATE POLYNOMIAL, OR A 4TH ORDER BIVARIATE POLYNOMIAL, WITH UP TO 4 REAL SOLUTIONS by RICHARD D. KAUFMAN is a nonfiction available to read on EtoBox.
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The Kuka 662 is a robot that has been problematic in obtaining a workableInverse Kinematic Solution. The Inverse Kinematic Solution is needed in order to set thejoint angles of a robot so that the manipulator can reach desired locations andorientations. The solution obtained in this work is an 8th order univariate polynomial ora 4th order bivariate polynomial. Unlike open form Inverse Kinematic Solutions of thepast, modern computers are now powerful enough to solve these polynomials quicklyusing iterative numerical techniques. The application of a rapidly determined InverseKinematic Solution offers hope of the resurrection of this once popular robot.
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- Author
- RICHARD D. KAUFMAN
- Publisher
- UNIVERSITY OF MASSACHUSETTS LOWELL
- Published
- 2009
- Language
- EN
- Category
- nonfiction
- Subjects
- Technology, Stem
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