期刊
ROBOTICA
卷 31, 期 -, 页码 455-463出版社
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574712000471
关键词
Robotics; Inverse kinematics; Representation; Euclidean motion group
类别
资金
- Graduate School of Advanced Manufacturing and Engineering (GSaME)
This paper looks at the inverse kinematics problem of an a priori unknown 6R-Robot from the representation point of view. It describes a new representation of the Euclidean motion group. With this representation, the inverse kinematics problem can be treated entirely numerical. No symbolical methods are required.
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