相关论文: A Design and an Implementation of an Inverse Kinem…
Methods for inverse kinematics computation and path planning of a three degree-of-freedom (DOF) manipulator using the algorithm for quantifier elimination based on Comprehensive Gr\"obner Systems (CGS), called CGS-QE method, are proposed.…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…
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…
This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
Learning the inverse dynamics of robots directly from data, adopting a black-box approach, is interesting for several real-world scenarios where limited knowledge about the system is available. In this paper, we propose a black-box model…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
The Inverse Kinematics (IK) problem is to nd robot control parameters to bring it into the desired position under the kinematics and collision constraints. We present a global solution to the optimal IK problem for a general serial 7DOF…
Optimizing high-degree of freedom robotic manipulators requires searching complex, high-dimensional configuration spaces, a task that is computationally challenging for classical methods. This paper introduces a quantum native framework…
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…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…
The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the…
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…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…
This paper introduces a closed-form analytical solution for the inverse kinematics (IK) of a 6 Degrees of Freedom (DOF) serial robotic manipulator arm, configured with six revolute joints and utilized within the Lunar Exploration Rover…