@inproceedings{34e55e92b3b945b09d3c0802d10e6683,
title = "Solution and application of two inverse kinematics subproblems",
abstract = "This paper presents two new inverse kinematics subproblems. Subproblem 1: Rotating about two parallel axes to a given point and Subproblem 2: Rotating sequentially about two parallel axes to a point at the same distance to two given points. Subproblem2 can be regarded as the extension of Subproblem 1. The solutions to that kind of Subproblem are derived. The inverse kinematics problem of some kinds of mechanic chains with two parallel rotate axes can be converted to solve those two subproblems and others known. Based on the RRSR chain, steps of inverse kinematics solution of this kind of chain are listed, and the problems of the multi-solution are analyzed and the geometric meanings of inverse kinematics are explained. Through an instance with exact parameters, the feasibility of the method is also testified.",
keywords = "Exponential product, Inverse kinematics subproblems, RRSR chains, Screw",
author = "Kong Minxiu and Du Zhijiang and Sun Lining and Zhang Yong",
year = "2006",
doi = "10.1109/ICMA.2006.257790",
language = "英语",
isbn = "1424404665",
series = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",
pages = "1164--1168",
booktitle = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",
note = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 ; Conference date: 25-06-2006 Through 28-06-2006",
}