Engineering Mechanics

Proceedings Vol. 18 (2012)

ENGINEERING MECHANICS 2012

18th INTERNATIONAL CONFERENCE
May 14 – 17, 2012, Svratka, Czech Republic

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Editors: Jiří Náprstek and Cyril Fischer

ISBN 978-80-86246-39-0 (printed, Extended Abstracts)
ISBN 978-80-86246-40-6 (electronic)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

The inverse kinematics of n-serial robotic chain in different quadrants of working space

Z. Bobovský, F. Trebuňa
pages 129 - 135, full text

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 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.

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All papers were reviewed by members of the scientific committee.

Engineering Mechanics

International Conference

Proceedings Vol. 18 (2012)

ENGINEERING MECHANICS 2012