M. Wenz and H. Wrn (Germany)
inverse kinematics, organic computing, robot motion control, rule-based systems
Robot control software developers must deal with a wide variety of different robot kinematics and the number of robots continues to grow. On the other side development of motion control software and in particular the manual determination of manipulator models is a very labour and time intensive process. Due to nonlinearities the determination of the kinematics and dynamics of a manipulator are a major challenge. The focus of this paper lies on the symbolic computation of the inverse kinematics rather than on a numerical one, because analytical models yield all solutions and can significantly be faster computed than their numerical counterparts. Methods for efficiently computing kinematics models based on homogeneous transformation matrices and the product of exponentials formula are presented.
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