Abstract
The paper deals with the inverse transformation of coordinates for robotic manipulators with high payload capacity, which 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 the Pieper condition that ensures the existence of a closed-form solution of the inverse kinematics. Two reliable iterative algorithms are proposed to solve the problem in real time. The algorithms have been implemented in commercial robot controllers and software packages for the computer-aided design of welding robotic cells.
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