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An inverse kinematics problem solver based on screw theory for manipulator arms
| dc.contributor.author | Łukawski, Bartek | |
| dc.contributor.author | Montesino Valle, Ignacio | |
| dc.contributor.author | Victores, Juan G. | |
| dc.contributor.author | Jardón Huete, Alberto | |
| dc.contributor.author | Balaguer, Carlos | |
| dc.date.accessioned | 2022-09-05T11:56:44Z | |
| dc.date.available | 2022-09-05T11:56:44Z | |
| dc.date.issued | 2022 | |
| dc.identifier.citation | 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 | es_ES |
| dc.identifier.isbn | 978-84-9749-841-8 | |
| dc.identifier.uri | http://hdl.handle.net/2183/31417 | |
| dc.description.abstract | [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 | es_ES |
| dc.description.sponsorship | The research leading to these results has received funding from: European project “Human Centric Algebraic Machine Learning” (ALMA), H2020-EIC-FETPROACT-2019; ROBOASSET, “Sistemas robóticos inteligentes de diagnóstico y rehabilitación de terapias de miembro superior”, PID2020-113508RB-I00 funded by AGENCIA ESTATAL DE INVESTIGACION (AEI); RoboCity2030-DIHCM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by “Programas de Actividades I+D en la Comunidad de Madrid” and cofunded by the European Social Funds (FSE) of the EU; the R&D&I project PLEC2021-007819 funded by MCIN/AEI/10.13039/501100011033 and by the European Union NextGenerationEU/PRTR; and cofounded by Structural Funds of the EU. | es_ES |
| dc.description.sponsorship | Comunidad de Madrid; S2018/NMT-4331 | es_ES |
| dc.language.iso | eng | es_ES |
| dc.publisher | Universidade da Coruña. Servizo de Publicacións | es_ES |
| dc.relation | info:eu-repo/grantAgreement/EC/H2020/952091 | es_ES |
| dc.relation.uri | https://doi.org/10.17979/spudc.9788497498418.0864 | es_ES |
| dc.rights | Atribución-NoComercial-CompartirIgual 4.0 Internacional (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es | es_ES |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/3.0/es/ | * |
| dc.subject | Robotics | es_ES |
| dc.subject | Screw theory | es_ES |
| dc.subject | Inverse kinematics | es_ES |
| dc.subject | Manipulator arm | es_ES |
| dc.subject | Orocos KDL | es_ES |
| dc.title | An inverse kinematics problem solver based on screw theory for manipulator arms | es_ES |
| dc.type | info:eu-repo/semantics/conferenceObject | es_ES |
| dc.rights.access | info:eu-repo/semantics/openAccess | es_ES |
| UDC.startPage | 864 | es_ES |
| UDC.endPage | 869 | es_ES |
| dc.identifier.doi | https://doi.org/10.17979/spudc.9788497498418.0864 | |
| UDC.conferenceTitle | XLIII Jornadas de Automática | es_ES |
