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Inverse Kinematics, Cyclic Coordinate Descent, Serial Chain Robot.


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.


Acta Mechanica Slovaca. Volume 15, Issue 3, Pages 62 – 67, ISSN 1335-2393


  Cyclic Calculation of Inverse Kinematics for n-link Serial Mechanism


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