Related papers: P-FABRIK: A General Intuitive and Robust Inverse K…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under complex constraints. We present IKSPARK (Inverse Kinematics using…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
Physics-based simulation of mesh based domains remains a challenging task. State-of-the-art techniques can produce realistic results but require expert knowledge. A major bottleneck in many approaches is the step of integrating a potential…
It is a common problem in robotics to specify the position of each joint of the robot so that the endpoint reaches a certain target in space. This can be solved in two ways, forward kinematics method and inverse kinematics method. However,…
This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on expressing the dynamics of a class of linearly-actuated parallel…
This paper introduces the Parallelized Circumcentered Reflection Method (P-CRM), a circumcentric approach that parallelizes the Circumcentered Reflection Method (CRM) for solving Convex Feasibility Problems in affine settings. Beyond…
We present a novel class of methods to compute functions of matrices or their action on vectors that are suitable for parallel programming. Solving appropriate simple linear systems of equations in parallel (or computing the inverse of…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
Parametric linear programming is a central operation for polyhedral computations, as well as in certain control applications.Here we propose a task-based scheme for parallelizing it, with quasi-linear speedup over large problems.This type…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…
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…
The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
Recently, multiple formulations of vision problems as probabilistic inversions of generative models based on computer graphics have been proposed. However, applications to 3D perception from natural images have focused on low-dimensional…
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a single solution only and rely on local search techniques to…