TABLE OF CONTENT
Page
ACKNOWLEDGEMENTS. iii ABSTRACT. vii CHAPTERS
1 INTRODUCTION. .1
2 THE INVERSE KINEMATICS PROBLEM. 5
Notation and Mathematical Preliminaries. 5 Problem Definition. 10
3 EXISTING SOLUTIONS. 13
Closed-Form Architectures. 13 Record and Playback. 14 Numerical Techniques. 15
4 NEW APPROACH. 18
Link-Frames Assignment. 18 The Reduced System of Equations. 19 Additional Inverse Kinematic Equations. 24 Solving Inverse Kinematic Equations .25 Exchanging Base and End-Effector Frames. 27,
5 SOLVING 4-DOF MANIPULATORS. 29
Reduced System of Equations. 29 Special 4-DOF Manipulator Geometries 35
6 SOLVING 5-DOF MANIPULATORS. 51
One-Dimensional Iterative Method .51
Five-DOF Robots with Closed-Form*
Solution. 63.
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