Two optimization algorithms for solving robotics inverse kinematics with redundancy

DOI10.1007/S11768-010-0011-1MaRDI QIDQ3016545zbMATH OpenOpenAlexFDO

Authors Wei Wang, Yuanguang Sun, Jian-Xin Xu

Publication date 19 July 2011

Published in Journal of Control Theory and Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11768-010-0011-1

zbMATH Keywords

inverse kinematicsnumerical approachobjective functionoptimizationredundant robot

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

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• A convex programming approach to the inverse kinematics problem for manipulators under constraints
• Hybrid Taguchi DNA swarm intelligence for optimal inverse kinematics redundancy resolution of six-DOF humanoid robot arms
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• A modification of the \(\alpha \mathrm{BB}\) method for box-constrained optimization and an application to inverse kinematics
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