DocumentCode
2349162
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
fYear
2008
fDate
20-22 Oct. 2008
Firstpage
933
Lastpage
937
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Science and Information Technology, 2008. IMCSIT 2008. International Multiconference on
Conference_Location
Wisia
Print_ISBN
978-83-60810-14-9
Type
conf
DOI
10.1109/IMCSIT.2008.4747354
Filename
4747354
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