PT Journal
AU Trebuna, F
   Bobovsky, Z
TI Cyclic Calculation of Inverse Kinematics for n-link Serial Mechanism
SO Acta Mechanica Slovaca
PY 2011
BP 62
EP 67
VL 15
IS 3
DI 10.21496/ams.2011.029
DE Inverse Kinematics; Cyclic Coordinate Descent; Serial Chain Robot
AB 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.
ER