descriptionPublicationkeyboard_double_arrow_right Part of book or chapter of book , Conference object , Other literature type 18 Jul 2020 English Publisher:Springer International Publishing

Authors: Heidari, Omid; Pérez Gracia, Alba;

doi: 10.1007/978-3-030-50975-0_2

handle: 2117/361890

Inverse Kinematics Using a Converging Paths Algorithm

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Abstract

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.

Peer Reviewed

Related Organizations

Idaho State University
United States
Universitat Polite`cnica de Catalunya
Spain

Keywords

Robòtica, 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], Robotics, FABRIK

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