Gutierrez, Jaime; Recio, Tomas - In: Mathematics and Computers in Simulation (MATCOM) 51 (2000) 5, pp. 441-449
The solution of the inverse kinematics problem requires solving a non-linear system of equations, modulo the trigonometric identity s2+c2−1, where c=cos(θ),s=sin(θ) for a joint variable θ. A method based on the geometry of conics was presented by Smith and Lipkin [A summary of the theory...