MANIPULATION
Inverse Kinematics Selection Algorithm for 6-DOF Manipulator Based on Neural Network to Pass Through the Singular Point
Daiki Kato, Naoki Maeda, Ayumu Takeuchi, Toshiki HIROGAKI, Eiichi AOYAMA
- Year
- 2022
- Citations
- 1
- Access
- Open access
Abstract
NOMENCLATURE= position and posture vectors of the robot's end-effector =vector related with each joint angle of the robot = Jacobi matrix of partial derivatives of the robot's p osition and posture at each joint angle = rotation matrix between each coordinate system co nfigured for each link 223
Keywords
Inverse kinematicsPosition (finance)Robot end effectorKinematicsRotation matrixRobotRotation (mathematics)Robot kinematicsComputer sciencePoint (geometry)
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