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 4R and spatial 4R robots. Future work includes optimizing the method to compare with other fast numeric algorithms for inverse kinematics.


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    Titel :

    Inverse Kinematics Using a Converging Paths Algorithm


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Lenarčič, Jadran (Herausgeber:in) / Siciliano, Bruno (Herausgeber:in) / Heidari, Omid (Autor:in) / Gracia, Alba Perez (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Erscheinungsdatum :

    2020-07-18


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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