A novel inverse kinematics method for 6-DOF robots with non-spherical wrist
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.104180
Abstract: Abstract A novel numerical method is proposed to solve the inverse kinematics for 6-DOF robots with non-spherical wrist in this paper, which firstly simplifies the non-spherical wrist structure to a spherical one. In each iteration… read more here.
Keywords: inverse kinematics; dof robots; spherical wrist; kinematics ... See more keywords
Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach
Sign Up to like & getrecommendations! Published in 2022 at "Robotics"
DOI: 10.3390/robotics11050093
Abstract: The presence of collaborative robots in industrial environments requires that their control strategies include collision avoidance in the generation of trajectories. In general, collision avoidance is performed via additional displacements of the kinematic chain that… read more here.
Keywords: dof robots; avoidance redundant; collision; collision avoidance ... See more keywords