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An effective and unified method to derive the inverse kinematics formulas of general six-DOF manipulator with simple geometry
F **ao, G Li, D Jiang, Y **e, J Yun, Y Liu… - … and Machine Theory, 2021 - Elsevier
For decades, although the inverse kinematics (IK) problem of six degrees of freedom (DOF)
manipulator with general geometry has been solved, there is still needed an efficient and …
manipulator with general geometry has been solved, there is still needed an efficient and …
An inverse kinematics method for robots after geometric parameters compensation
It is difficult to apply the inverse kinematics (IK) of the nominal model of robots directly after
the error compensation of geometric parameters. This paper proposed an instruction pose …
the error compensation of geometric parameters. This paper proposed an instruction pose …
[HTML][HTML] The inverse kinematics of lobster arms
The roots of the closure polynomial associated with a given mechanism determine its
assembly modes. In the case of 6R closed-loop mechanisms, these polynomials are usually …
assembly modes. In the case of 6R closed-loop mechanisms, these polynomials are usually …
Inverse kinematic formula for a new class of 6R robotic arms with simple constraints
F Chen, H Ju, X Liu - Mechanism and Machine Theory, 2023 - Elsevier
A systematic and unified kinematic modelling method for a new class of 6R robotic arms is
investigated, which separates the coupled joint variables without raising degrees. To begin …
investigated, which separates the coupled joint variables without raising degrees. To begin …
Numerically stable solution to the 6r problem of inverse kinematics
In this paper, a stable and accurate algorithm to compute all solutions of the inverse
kinematics problem of a 6 revolute manipulator chain is presented. A system of equations is …
kinematics problem of a 6 revolute manipulator chain is presented. A system of equations is …
[PDF][PDF] The curved manipulator (cuma-type arm): Realization of a serial manipulator with general structure in modular design
Currently available industrial robots are mainly of monolithic structure. Hence, the
geometrical dimensions and the configuration of robotic arms are immutable. A modular …
geometrical dimensions and the configuration of robotic arms are immutable. A modular …
[PDF][PDF] Adaptable serial manipulators in modular design
M Brandstötter - 2016 - researchgate.net
Serial robots are indispensable elements of production lines in manufacturing plants and
are more and more used out of factory halls. They can be found in medical fields such as for …
are more and more used out of factory halls. They can be found in medical fields such as for …
Singularity-Free Inverse Kinematics by Cyclic Coordinate Descent of A 6 DOF Robotic Manipulator
This paper presents forward and inverse kinematics analysis for a 6 degree-of-freedom
robotic manipulator. Cyclic Coordinate Descent (CCD) is chosen to be the framework of …
robotic manipulator. Cyclic Coordinate Descent (CCD) is chosen to be the framework of …
Kinematic issues in 6R cuspidal robots, guidelines for path planning and deciding cuspidality
A cuspidal serial robot can change inverse kinematic solutions (IKS) without crossing
singularities because it has multiple IKS in a singularity-free region. This property of robots …
singularities because it has multiple IKS in a singularity-free region. This property of robots …
Solvable criteria and sequential solution method for the general 6R inverse kinematics problem
The inverse kinematics solution for a general 6R manipulator has been a notable problem in
the robotics field. Previous work has derived sixteenth-degree univariate polynomials for …
the robotics field. Previous work has derived sixteenth-degree univariate polynomials for …