“Efficient inverse position transformation for TR 4000S robot manipulator”

Authors: Kesheng Wang,
Affiliation: NTNU
Reference: 1989, Vol 10, No 2, pp. 101-113.

Keywords: Inverse kinematics, robot control, robot manipulator, robotics

Abstract: An efficient method is developed for computing the inverse kinematic position solution with a closed form for the TR 4000S spray painting robot manipulator with five degrees of freedom and non-spherical wrist construction. The inverse kinematic problem is defined as the transformation from Cartesian space to the joint space. The solution is based on the geometrical separation of the arm and wrist of a robot manipulator and shows that it is very systematic, efficient and easily derived.

PDF PDF (642 Kb)        DOI: 10.4173/mic.1989.2.4

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  title={{Efficient inverse position transformation for TR 4000S robot manipulator}},
  author={Wang, Kesheng},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}