Matrix Continued Fraction Algorithms For Inverse Kinematics/Dynamics With Application To Simulation of Supermaneuverable Trajectories On Centrifuges

Abstract

By viewing a centrifuge simulator as a 3 revolute axes robot manipulator, the solution of the inverse kinematics problem associated with the simulation of a motion field is studied. A Matrix Continued Fraction algorithm is introduced to assist the solution involving a Damped Least Squares procedure.