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

DOI10.1007/s10846-012-9679-4zbMath1251.70003OpenAlexW2051877509WikidataQ115383743 ScholiaQ115383743MaRDI QIDQ1761268

Krzysztof Tchoń, Joanna Karpińska

Publication date: 15 November 2012

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

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

zbMATH Keywords

distributionapproximationminimizationinverse kinematicsJacobian algorithmredundant manipulator

Mathematics Subject Classification ID

Variational methods for problems in mechanics (70G75) 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)

Related Items (2)

Optimization Algorithm for an Exoskeleten Robotic Inverse Kinematic Application ⋮ Design of inverse kinematics algorithms: extended Jacobian approximation of the dynamically consistent Jacobian inverse

Cites Work

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• Repeatable approximation of the Jacobian pseudo-inverse
• A homotopy algorithm for approximating geometric distributions by integrable systems
• Calculation of repeatable control strategies for kinematically redundant manipulators
• Approximation of Jacobian inverse kinematics algorithms
• Repeatable generalized inverse control strategies for kinematically redundant manipulators
• A continuation method for motion-planning problems
• Repeatability of redundant manipulators: mathematical solution of the problem

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