The inverse kinematics problem, a heuristical approach

被引：0

作者：

Pozna, Claudiu Radu ^{[1
,2
]}

Horvath, Erno ^{[1
]}

Hollosi, Janos ^{[1
]}

机构：

[1] Szechenyi Istvan Univ, Dept Comp Engn, Gyor, Hungary

[2] Transylvania Univ, Fac Elect Engn, Brasov, Romania

来源：

2016 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI) | 2016年

关键词：

inverse kinematics; heuristics; manipulability; MANIPULATORS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a heuristic solution for the inverse kinematics problem. The heuristic consists on combining the distance between the actual position and the desired position of the gripper with the direction of the best manipulability of the robot. Theoretical results are validated by digital simulations resolute.

引用

页码：299 / 304

页数：6

共 7 条

[1]

[Anonymous], 1997, IEEE T AUTOM CONTROL, DOI DOI 10.1109/TAC.1997.633847

[2] REVIEW OF PSEUDOINVERSE CONTROL FOR USE WITH KINEMATICALLY REDUNDANT MANIPULATORS [J].

KLEIN, CA ;

HUANG, CH .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1983, 13 (02) :245-250

[3]

Pozna C., 2009, RAAD 2009, P1

[4]

Sciavicco L., 1996, MODELING CONTROL ROB

[5] Real-time inverse kinematics techniques for anthropomorphic limbs [J].

Tolani, D ;

Goswami, A ;

Badler, NI .

GRAPHICAL MODELS, 2000, 62 (05) :353-388

[6] RESOLVED MOTION RATE CONTROL OF MANIPULATORS AND HUMAN PROSTHESES [J].

WHITNEY, DE .

IEEE TRANSACTIONS ON MAN-MACHINE SYSTEMS, 1969, MM10 (02) :47-&

[7] INVERSE KINEMATICS POSITIONING USING NONLINEAR-PROGRAMMING FOR HIGHLY ARTICULATED FIGURES [J].

ZHAO, JM ;

BADLER, NI .

ACM TRANSACTIONS ON GRAPHICS, 1994, 13 (04) :313-336

← 1 →