A Spinor Method of Solution of Manipulators' Inverse Kinematics Problem with Rotational Pairs
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.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).