On inverse kinematics with inequality constraints: new insights into minimum jerk trajectory generation
نویسندگان
چکیده
منابع مشابه
Inverse Kinematics: New Method for Minimum Jerk Trajectory Generation
The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while minimizing the jerk of the joints trajectories. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, no contraintes on the accelerations or the jerk of the obtained trajectories can ...
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ژورنال
عنوان ژورنال: Advanced Robotics
سال: 2016
ISSN: 0169-1864,1568-5535
DOI: 10.1080/01691864.2016.1202136