Acta Mechanica Slovaca 2011, 15(3):62-67 | DOI: 10.21496/ams.2011.029

Cyclic Calculation of Inverse Kinematics for n-link Serial Mechanism

František Trebuňa, Zdenko Bobovský*
Department of Applied Mechanics and Mechatronics, Faculty of Mechanical Engineering, Letná 9, 04200 Košice, Slovak Republic

Inverse kinematics of mechanic system is area of solution at many universities and scientific research institutions. This paper dealt with of solution problem of inverse kinematic by a cyclic coordinate descent method (CCD). This method allows use n-link chain mechanism without complicated changing of control algorithm. The article is focuses on the issue of setting the number of elements and also presents a modified method the incremental CCD, which is compared with this method.

Keywords: Inverse Kinematics, Cyclic Coordinate Descent, Serial Chain Robot

Received: February 28, 2011; Accepted: May 12, 2011; Published: October 31, 2011  Show citation

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Trebuňa, F., & Bobovský, Z. (2011). Cyclic Calculation of Inverse Kinematics for n-link Serial Mechanism. Acta Mechanica Slovaca, 15(3), 62-67. doi: 10.21496/ams.2011.029
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