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Inverse kinematics algorithms based on numerical integration involve the drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from that desired. The proposed algorithm associates a novel method to describe the differential kinematics with a simple numerical integration method. The methodology is presented in this paper and its exponential stability is proved. A numerical example and a real application are presented to outline its advantages.<\/jats:p>","DOI":"10.1017\/s0263574709005426","type":"journal-article","created":{"date-parts":[[2009,3,6]],"date-time":"2009-03-06T11:51:22Z","timestamp":1236340282000},"page":"1017-1026","source":"Crossref","is-referenced-by-count":18,"title":["A new method to solve robot inverse kinematics using Assur virtual chains"],"prefix":"10.1017","volume":"27","author":[{"given":"H.","family":"Simas","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.","family":"Guenther","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D. F. 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Campos A. , Cinem\u00e1tica diferencial de manipuladores empregando cadeias virtuais Ph.D. Thesis (Florian\u00f3polis, Brazil: Universidade Federal de Santa Catarina, 2005)."},{"key":"S0263574709005426_ref1","doi-asserted-by":"publisher","DOI":"10.1590\/S1678-58782005000400002"},{"key":"S0263574709005426_ref12","volume-title":"Proceedings VI Induscon-Confer\u00eancia Internacional de Aplica\u00e7\u00f5es Industriais","author":"Simas","year":"2004"},{"key":"S0263574709005426_ref15","volume-title":"Mechanism Design: Enumeration of Kinematic Structures According to Function","author":"Tsai","year":"2001"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005426","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,11]],"date-time":"2024-03-11T04:24:02Z","timestamp":1710131042000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005426\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,6]]},"references-count":20,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2009,12]]}},"alternative-id":["S0263574709005426"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005426","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3,6]]}}}