References in periodicals archive ?
In order to pass from Cartesian space to joint space in terms of position, velocity and acceleration the inverse kinematics is required.
We define generalised Cartesian space coordinates p, whose elements are the six variables chosen to describe the position and orientation of the platform, as p = f (x, y, z, [phi], [theta], [psi]).
So, the reference coordinates of linear actuators can be computed with (5) for a position of the end-effector in cartesian space.