Inverse Kinematics Using a Converging Paths Algorithm
| Autor: | Omid Heidari, Alba Perez Gracia |
|---|---|
| Přispěvatelé: | Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. CDEI-DM - Centre de Disseny d'Equips Industrials-Dinàmica de Màquines |
| Rok vydání: | 2020 |
| Předmět: |
Robòtica
Robot kinematics Inverse kinematics Iterative methods Iterative method Computer science Numerical analysis Robotics Kinematics FABRIK Serial manipulator Computer Science::Robotics Serial manipulators Enginyeria mecànica::Processos de fabricació mecànica [Àrees temàtiques de la UPC] Robot Dual quaternion Algorithm ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Advances in Robot Kinematics 2020 ISBN: 9783030509743 ARK UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) |
| DOI: | 10.1007/978-3-030-50975-0_2 |
| Popis: | This article presents a numerical method for the inverse kinematics of serial chains by utilizing dual quaternion formulation of the robot kinematics within a converging paths algorithm. The method is inspired by iterative techniques such as FABRIK, however adding information on the kinematics of the chain to be solved. The method has been tested with 2R, planar 3R and spatial 3R robots. Future work includes optimizing the method to compare with other fast numeric algorithms for inverse kinematics. |
| Databáze: | OpenAIRE |
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