Inverse Kinematics in Redundant Robot Manipulator

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This Demonstration shows the resolution of the inverse kinematics problem of a robot manipulator with seven degrees of freedom through the use of a swivel angle. Controls can vary the three-dimensional location of the robot arm and its swivel angle.

Contributed by: André Carvalho (June 2015)
Open content licensed under CC BY-NC-SA


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Reference

[1] Y. Wang and P. Artemiadis, "Closed-Form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms," Advances in Robotics & Automation, 2(3), 2013. doi:10.4172/2168-9695.1000110.



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