On the inverse kinematics of anunknown general 6R-Robot

Friedemann Groh, Konrad Groh, Alexander Verl

Abstract: This paper looks at the inverse kinematics problem of an a priori unknown 6R-Robot from the representation point of view. It describes a new representation of the Euclidean motion group. With this representation, the inverse kinematics problem can be treated entirely numerical. No symbolical methods are required.