Approximation of Jacobian inverse kinematics algorithms: differential geometric vs. Variational approach

DOI10.1007/S10846-012-9679-4MaRDI QIDQ1761268zbMATH OpenOpenAlexWikidataFDO

Authors Joanna Karpińska, Krzysztof Tchoń

Publication date 15 November 2012

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1007/s10846-012-9679-4

zbMATH Keywords

approximationdistributioninverse kinematicsJacobian algorithmminimizationredundant manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Variational methods for problems in mechanics (70G75)

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• Approximation of Jacobian inverse kinematics algorithms
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Cites work

• A continuation method for motion-planning problems
• A homotopy algorithm for approximating geometric distributions by integrable systems
• Approximation of Jacobian inverse kinematics algorithms
• Calculation of repeatable control strategies for kinematically redundant manipulators
• scientific article; zbMATH DE number 3206496 (Why is no real title available?)
• Repeatability of redundant manipulators: mathematical solution of the problem
• Repeatable approximation of the Jacobian pseudo-inverse
• Repeatable generalized inverse control strategies for kinematically redundant manipulators

Cited in

(7)

• Kinematic approximation of robotic manipulators
• A modification of the \(\alpha \mathrm{BB}\) method for box-constrained optimization and an application to inverse kinematics
• A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators
• Approximation of Jacobian inverse kinematics algorithms
• Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators
• Design of inverse kinematics algorithms: extended jacobian approximation of the dynamically consistent Jacobian inverse
• Optimization Algorithm for an Exoskeleten Robotic Inverse Kinematic Application

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