相关论文: Analytical Solution for Inverse Kinematics
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…
The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical and geometric techniques for the UR robot. The innovative application of this work is used in the precise positioning of puncture…
We show how to compute globally optimal solutions to inverse kinematics (IK) by formulating the problem as an indefinite quadratically constrained quadratic program. Our approach makes it feasible to solve IK instances of generic redundant…
Modern robotics applications require an inverse kinematics (IK) solver that is fast, robust and consistent, and that provides all possible solutions. Currently, the Franka robot arm is the most widely used manipulator in robotics research.…
Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…
This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and obstacle collision avoidance. Due to the high-dimensionality…
This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…
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…
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…
Fast inverse kinematics (IK) is a central component in robotic motion planning. For complex robots, IK methods are often based on root search and non-linear optimization algorithms. These algorithms can be massively sped up using a neural…
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…
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…
This paper proposes a novel inverse kinematics (IK) solver of articulated robotic systems for path planning. IK is a traditional but essential problem for robot manipulation. Recently, data-driven methods have been proposed to quickly solve…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
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 presents ETA-IK, a novel Execution-Time-Aware Inverse Kinematics method tailored for dual-arm robotic systems. The primary goal is to optimize motion execution time by leveraging the redundancy of both arms, specifically in tasks…
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…