A Spinor Method of Solution of Manipulators' Inverse Kinematics Problem with Rotational Pairs
Keywords:
spinors, rotations, Euler's angles, basic representations, kinematics inverse problem, orthogonal transformationsAbstract
A new method and algorithm of solution of multijoint manipulators with rotational pairs inverse kinematic problem was created. The method is based on the principally new approach-spinor representation of the spatial generalized rotations. One of the advantages of the method is that it allows elaborating formulation of technological tasks for manipulators in terms of Cartesian coordinates instead of traditional angles' terms. Besides the method allows using only one (absolute) coordinate system and does not require a set of different (relative) coordinate systems. It provides easy, reliable and efficient way of solution of inverse kinematics problem of multijoints manipulators with rotational pairs.
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