A New Integrated Method to Improve the Computation of the Robotics’ Inverse Kinematics in a Simple and Unified Formula

Formulating mathematical models and deriving efficient algorithms are crucial for meeting the requirements of future robotics applications. This paper proposes a novel approach for analyzing kinematic systems and computing inverse kinematics (IK) solutions for serial robotic arms. The aim is to redu...

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Autori principali:	Abubaker Ahmed, Hehua Ju, Yang Yang, Hosham Wahballa, Ghazally I. Y. Mustafa
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	MDPI AG 2025-11-01
Serie:	Machines
Soggetti:	kinematic modeling iterative algorithms quaternions rotation matrix wrist structure modification inverse kinematic solution
Accesso online:	https://www.mdpi.com/2075-1702/13/12/1073
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