Inverse Kinematics for Robot Manipulators
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Efficient Inverse Kinematics of General 6R Manipulators (10 pages
PostScript,
94K; Acrobat
238K) D. Manocha and J. Canny, IEEE Transactions on Robotics and
Automation , vol. 10, no. 5, pp. 648-657, 1994.
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A Fast Algorithm and System for Inverse Kinematics of General Serial
Manipulators (6 pages PostScript,
68K; Acrobat
193K) D. Manocha and Y. Zhu, Proceedings of IEEE Conference on Robotics
and Automation, pp. 3348-3354, San Diego, CA, 1994.
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Real Time Inverse Kinematics of General 6R Manipulators (42 pages
PostScript,
192K; Acrobat
295K, Technical Report) D. Manocha and J. Canny
UNC Research Group on Modeling,
Physically-Based Simulation and Applications
Please let me know if these papers are not previewable or printable at
your site: manocha@cs.unc.edu