Title :
Solving IK problems for open chains using optimization methods
Author :
Zmorzynski, Krzysztof
Author_Institution :
Fac. of Math. & Inf. Sci., Warsaw Univ. of Technol., Warsaw
Abstract :
Algorithms solving inverse problems for simple (open) kinematic chains are presented in this paper. Due to very high kinematics chains construction complexity, those algorithms should be as universal as possible. That is why optimization methods are used. They allow fast and accurate calculations for arbitrary kinematics chains constructions, permitting them to be used with success in robotics and similar domains.
Keywords :
inverse problems; optimisation; robot kinematics; inverse kinematics; inverse problems; kinematic chains construction complexity; open chains; optimization method; robotics; Computational efficiency; Computer science; Information science; Information technology; Jacobian matrices; Joints; Kinematics; Mathematics; Optimization methods; Robots;
Conference_Titel :
Computer Science and Information Technology, 2008. IMCSIT 2008. International Multiconference on
Conference_Location :
Wisia
Print_ISBN :
978-83-60810-14-9
DOI :
10.1109/IMCSIT.2008.4747354