RT Journal Article
SR Electronic
A1 Trebuňa, František
A1 Bobovský, Zdenko
T1 Cyclic Calculation of Inverse Kinematics for n-link Serial Mechanism
JF Acta Mechanica Slovaca
YR 2011
VO 15
IS 3
SP 62
OP 67
DO 10.21496/ams.2011.029
UL https://www.actamechanica.sk/artkey/ams-201103-0008.php
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.