Book
Inverse Kinematics Using a Converging Paths Algorithm
| Τίτλος: | Inverse Kinematics Using a Converging Paths Algorithm |
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| Συγγραφείς: | Heidari, Omid, Pérez Gracia, Alba |
| Πηγή: | Springer Proceedings in Advanced Robotics ISBN: 9783030509743 UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) |
| Στοιχεία εκδότη: | Springer International Publishing, 2020. |
| Έτος έκδοσης: | 2020 |
| Θεματικοί όροι: | Robòtica, 0209 industrial biotechnology, Serial manipulators, Àrees temàtiques de la UPC::Enginyeria mecànica::Processos de fabricació mecànica, Inverse kinematics, Iterative methods, Enginyeria mecànica::Processos de fabricació mecànica [Àrees temàtiques de la UPC], 0202 electrical engineering, electronic engineering, information engineering, Robotics, 02 engineering and technology, FABRIK |
| Περιγραφή: | 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. |
| Τύπος εγγράφου: | Part of book or chapter of book Conference object Other literature type |
| Περιγραφή αρχείου: | application/pdf |
| Γλώσσα: | English |
| DOI: | 10.1007/978-3-030-50975-0_2 |
| Σύνδεσμος πρόσβασης: | https://dblp.uni-trier.de/db/conf/ark/ark2020.html#HeidariG20 https://doi.org/10.1007/978-3-030-50975-0_2 https://link.springer.com/chapter/10.1007%2F978-3-030-50975-0_2 https://rd.springer.com/chapter/10.1007/978-3-030-50975-0_2 |
| Rights: | Springer TDM CC BY NC ND |
| Αριθμός Καταχώρησης: | edsair.doi.dedup.....99a2975f792c99a220de6b024459d052 |
| Βάση Δεδομένων: | OpenAIRE |
| DOI: | 10.1007/978-3-030-50975-0_2 |
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