Newsgroups: comp.robotics
Path: brunix!news.Brown.EDU!noc.near.net!howland.reston.ans.net!agate!ames!kronos.arc.nasa.gov!artemis.arc.nasa.gov!piguet
From: piguet@artemis.arc.nasa.gov (Laurent Piguet)
Subject: Inverse kinematics
Message-ID: <1993Nov4.020936.19477@kronos.arc.nasa.gov>
Keywords: kinematics
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Organization: NASA ARC - Information Sciences Division
Date: Thu, 4 Nov 1993 02:09:36 GMT
Lines: 15

Does anybody have references to articles on a general inverse kinematics method ??

Usually, inverse kinematics is calculated by bringing the problem to a 2D plane, and
then solving the case using trigonometric simplications. Another way would be to calculate
all the matrices to perform the inversion, but this requires a lot of 'number crunching'...
I'd like to have a general way of solving the problem (independant from the number of DOF).

I am wondering if somebody already defined strategies...

Thanks.

Laurent Piguet
<piguet@aphrodite.arc.nasa.gov>
 

