A General Continuous Inverse Kinematics Algorithm for a Planar Robot Arm
نویسنده
چکیده
In this article we will describe a general algorithm (of computational complexity O(n)) for computing a continuous inverse kinematics for a planar robot arm with n segments, IK : R+ → R, z 7→ [θn−1, θn−2, · · · , θ0]. The algorithm, in essence, is a recursive one, that decomposes the planar arm into sub-arms, and incrementally construct the inverse kinematics of the full arm. The proposed algorithm can be used effectively for planning trajectories through critical points in the configuration space as is required in [BP14]. Full publication: Subhrajit Bhattacharya and Mihail Pivtoraiko, “A Classification of Configuration Spaces of Planar Robot Arms for a Continuous Inverse Kinematics Problem”, Acta Applicandae Mathematicae, online first, Springer, September, 2014. DOI: s10440-014-9973-1. Live demonstrations: – http://subhrajit.net/wiki/index.php?xURL=arm_JS-HTML5 – http://hans.math.upenn.edu/~subhrabh/nowiki/robot_arm_JS-HTML5/arm.html
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