OBTAINING INVERSE KINEMATICS EQUATIONS FOR A PLANAR BALL-PLATE ROBOT
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| Formato: | Recurso digital |
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Zenodo
2026
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| _version_ | 1866901207225729024 |
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| author | IJITCA |
| author_facet | IJITCA |
| contents | <p class="MsoNormal">This work focuses on the derivation and validation of inverse kinematics equations for a planar ball-plate robot, a critical step for its precise control. The robot's kinematic model was developed considering a simplified equilateral triangular base and mobile platform. We detail the mathematical procedures for determining the z-coordinates of the platform's points and establishing the unit vector normal to the platform, which are fundamental for the inverse kinematics solution. The derived equations allow for the calculation of the joint angles necessary to achieve a desired ball position on the plate.</p> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_19876448 |
| institution | Zenodo |
| language | |
| publishDate | 2026 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | OBTAINING INVERSE KINEMATICS EQUATIONS FOR A PLANAR BALL-PLATE ROBOT IJITCA <p class="MsoNormal">This work focuses on the derivation and validation of inverse kinematics equations for a planar ball-plate robot, a critical step for its precise control. The robot's kinematic model was developed considering a simplified equilateral triangular base and mobile platform. We detail the mathematical procedures for determining the z-coordinates of the platform's points and establishing the unit vector normal to the platform, which are fundamental for the inverse kinematics solution. The derived equations allow for the calculation of the joint angles necessary to achieve a desired ball position on the plate.</p> |
| title | OBTAINING INVERSE KINEMATICS EQUATIONS FOR A PLANAR BALL-PLATE ROBOT |
| url | https://doi.org/10.5281/zenodo.19876448 |