Abstract
The paper deals with inverse transformation of coordinates for robotic manipulators with high payload capacity that are widely used in welding applications. Such manipulators are usually equipped with 3 d.o.f. offset wrists or 2 d.o.f reduced wrists that do not satisfy Pieper condition that ensure existence of inverse kinematics closed-form solution. Two reliable iterative algorithms are proposed to solve the problem in real time. The proposed algorithms have been implemented in commercial robot controllers and software packages for computer-aided design of welding robotic cells.
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