What is it about?
Step by step geometrical solution. Existence of solution discussion. Example for complete inverse kinematics solution for KUKA robot.
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Why is it important?
Detailed explanation of steps in algorithmic manner.
Perspectives
Application in new, extended class of robot configuration.
Igor Dimovski
Institute for Advanced Composites and Robotics
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This page is a summary of: Algorithmic approach to geometric solution of generalized Paden–Kahan subproblem and its extension, International Journal of Advanced Robotic Systems, January 2018, SAGE Publications,
DOI: 10.1177/1729881418755157.
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