相关论文: P-FABRIK: A General Intuitive and Robust Inverse K…

Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However,…

Hyper-redundant Robotic Manipulators (HRMs) offer great dexterity and flexibility of operation, but solving Inverse Kinematics (IK) is challenging. In this work, we introduce VO-FABRIK, an algorithm combining Forward and Backward Reaching…

Achieving human-like motion in robots has been a fundamental goal in many areas of robotics research. Inverse kinematic (IK) solvers have been explored as a solution to provide kinematic structures with anthropomorphic movements. In…

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,…

Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some drawbacks of such architectures: heavy…

The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning 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…

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…

Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable but typically only produce a single solution and rely on…

Many parallel algorithms use at least linear auxiliary space in the size of the input to enable computations to be done independently without conflicts. Unfortunately, this extra space can be prohibitive for memory-limited machines,…

Industrial automation with six-axis robotic arms is critical for many manufacturing tasks, including welding and additive manufacturing applications; however, many of these operations are functionally redundant due to the symmetrical tool…

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…

Inverse kinematics is an important and challenging problem in the operation of industrial manipulators. This study proposes a simple inverse kinematics calculation scheme for an industrial serial manipulator. The proposed technique can…

Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary strengths and weaknesses, but developing a unified approach to…

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple…

Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and…

In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem 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…

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…