Łukawski, BartekMontesino Valle, IgnacioVictores, Juan G.Jardón Huete, AlbertoBalaguer, Carlos2022-09-052022-09-052022Łukawski, 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.9788497498418.0864978-84-9749-841-8http://hdl.handle.net/2183/31417[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 operationsengAtribución-NoComercial-CompartirIgual 4.0 Internacional (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/deed.eshttp://creativecommons.org/licenses/by-nc-sa/3.0/es/RoboticsScrew theoryInverse kinematicsManipulator armOrocos KDLconference outputopen accesshttps://doi.org/10.17979/spudc.9788497498418.0864