Geodesic
Kinematic Approximation of Robotic Manipulators
International Journal of Applied Mathematics and Computer Science, Tome 10 (2000) no. 3, pp. 605-622.

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A kinematic approximation of the nominal, reference kinematics of a manipulator is addressed. The approximation task leads to a minimax optimization problem. Some modifications facilitating the implementation of the algorithm in search spaces of high dimensionalities are presented. A sub-gradient mesh algorithm of solving the minimax task is given in detail. The approximation of the CYBOTECH manipulator with a ULB robot is provided based on the use of the Chebyshev metric. As an alternative, some measures of proximity of manipulators are also introduced.
Keywords: manipulator, kinematics, approximation, metrics, ULB robot
Mots-clés : manipulator, kinematyka, aproksymacja 
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     author = {Dul\k{e}ba, I.},
     title = {Kinematic {Approximation} of {Robotic} {Manipulators}},
     journal = {International Journal of Applied Mathematics and Computer Science},
     pages = {605--622},
     publisher = {mathdoc},
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     number = {3},
     year = {2000},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/IJAMCS_2000_10_3_a8/}
}
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Dulęba, I. Kinematic Approximation of Robotic Manipulators. International Journal of Applied Mathematics and Computer Science, Tome 10 (2000) no. 3, pp. 605-622. http://geodesic.mathdoc.fr/item/IJAMCS_2000_10_3_a8/