An inverse kinematics problem solver based on screw theory for manipulator arms

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http://hdl.handle.net/2183/31417
Atribución-NoComercial-CompartirIgual 4.0 Internacional (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es
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Título
An inverse kinematics problem solver based on screw theory for manipulator arms
Autor(es)
Data
2022
Cita bibliográfica
Łukawski, B.; Montesino Valle, I., Victores, J. G., Jardón, A., Balaguer, C. (2022) An inverse kinematics problem solver based on screw theory for manipulator arms. XLIII Jornadas de Automática: libro de actas, pp. 864-869. https://doi.org/10.17979/spudc.9788497498418.0864
Resumo
[Abstract] Several methodologies exist for solving the inverse kinematics of a manipulator arm. Basing on screw theory, it is possible to efficiently obtain complete and exact solutions. An open-source C++ implementation of an automated problem solver of this kind is introduced, and a comparative with selected known algorithms is established using the TEO humanoid robot platform by Universidad Carlos III de Madrid. The Orocos Kinematics and Dynamics Library is used for geometry and motion-related operations
Palabras chave
Robotics
Screw theory
Inverse kinematics
Manipulator arm
Orocos KDL
 
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Atribución-NoComercial-CompartirIgual 4.0 Internacional (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es
ISBN
978-84-9749-841-8