Related papers: A Combined Inverse Kinematics Algorithm Using FABR…
Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the IK until the end-effector is brought from its initial pose to the desired final pose. These methods require the computation of the Jacobian of the…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
In this article, a globally convergent sequential quadratic programming (SQP) method is developed for multi-objective optimization problems with inequality type constraints. A feasible descent direction is obtained using a linear…
Continuum manipulators have gained significant attention as a promising alternative to rigid manipulators, offering notable advantages in terms of flexibility and adaptability within intricate workspace. However, the broader application of…
Inverse Kinematics (IK) is to find the robot's configurations that satisfy the target pose of the end effector. In motion planning, diverse configurations were required in case a feasible trajectory was not found. Meanwhile, collision…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical singularity-robust IK with rapidly growing…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
We present a two-level branch-and-bound (BB) algorithm to compute the optimal gripper pose that maximizes a grasp metric in a restricted search space. Our method can take the gripper's kinematics feasibility into consideration to ensure…
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
Inverse kinematics - finding joint poses that reach a given Cartesian-space end-effector pose - is a common operation in robotics, since goals and waypoints are typically defined in Cartesian space, but robots must be controlled in joint…
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is finding robot joint configurations that satisfy desired…
In this paper, a new numerical method to solve the forward kinematics (FK) of a parallel manipulator with three-limb spherical-prismatic-revolute (3SPR) structure is presented. Unlike the existing numerical approaches that rely on…
Near kinematic singularities of a serial manipulator, the inverse kinematics (IK) problem becomes ill-conditioned, which poses computational problems for the numerical solution. Computational methods to tackle this issue are based on…
Inverse linear programming (LP) has received increasing attention due to its potential to generate efficient optimization formulations that can closely replicate the behavior of a complex system. However, inversely inferred parameters and…
Inverse kinematic (IK) methods recover the parameters of the joints, given the desired position of selected elements in the kinematic chain. While the problem is well-defined and low-dimensional, it has to be solved rapidly, accounting for…
Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…
A method is proposed to compute robust inner-approximations to the backward reachable set for uncertain nonlinear systems. It also produces a robust control law that drives trajectories starting in these sets to the target set. The method…
With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse…
In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character…
Indirect trajectory optimization methods such as Differential Dynamic Programming (DDP) have found considerable success when only planning under dynamic feasibility constraints. Meanwhile, nonlinear programming (NLP) has been the…