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Analytic Inverse Kinematics for the Universal Robots UR-5/UR-10 Arms
(Georgia Institute of Technology, 2013-12-07)
Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+
(Georgia Institute of Technology, 2013)
This paper derives the forward and inverse kinematics
of a humanoid robot. The specific humanoid that the
derivation is for is a robot with 27 degrees of freedom but
the procedure can be easily applied to other similar ...