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A General Method For The Inverse Kinematics Of Rotational Displacements In Spatial Mechanisms, John D. Kliminski

Theses

An iterative technique was developed to solve the inverse kinematics problem for the joint rotations in both closed-loop and open-loop spatial mechanisms and robotic manipulators in any prescribed configuration. The method is based on fixing one link in space and maneuvering the other links to form a closed chain, following an approximation of the actual physical assembly of the mechanism. In order to apply the same principle to both types of mechanisms, an open-loop mechanism was modeled as a closed-loop mechanism by creating a fictitious fixed link in the free space between the base and the end of the chain …