000009284 001__ 9284
000009284 005__ 20141204092425.0
000009284 04107 $$aeng
000009284 046__ $$k12/05/2014
000009284 100__ $$aBobovský, Z.
000009284 24500 $$aThe inverse kinematics of n-serial robotic chain in different quadrants of working space

000009284 24630 $$n18.$$pEngineering Mechanics 2012
000009284 260__ $$bInstitute of Theoretical and Applied Mechanics, AS CR, Prague
000009284 506__ $$arestricted
000009284 520__ $$2eng$$aInverse 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 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 of mechanism. Also presents a modified method the incremental CCD, which is compared with this method. From the perspective of number of cycles required to achieve the desired position with increasing number of links and from the perspective of changing quadrant of working space.

000009284 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000009284 653__ $$ainverse kinematic, n-serial, robotic chain

000009284 7112_ $$aEngineering Mechanics 2012$$cSvratka (CZ)$$d12/05/2014 - 15/05/2014$$gEM2012
000009284 720__ $$aBobovský, Z.$$iTrebuňa, F.
000009284 8560_ $$ffischerc@itam.cas.cz
000009284 8564_ $$s785915$$uhttp://invenio.itam.cas.cz/record/9284/files/277_Bobovsky_Z-FT.pdf$$yOriginal version of the author's contribution as presented on CD, paper (No. 277).
000009284 962__ $$r8924
000009284 980__ $$aPAPER