Automatic Geometric Decomposition for Analytical Inverse Kinematics

Calculating the inverse kinematics (IK) is fundamental for motion planning in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches require manual intervention, are ill-conditioned, or rely on time...

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Veröffentlicht in:	arXiv.org 2024-09
Hauptverfasser:	Ostermeier, Daniel, Külz, Jonathan, Althoff, Matthias
Format:	Artikel
Sprache:	eng
Schlagworte:	Computation Decomposition Derivation Inverse kinematics Kinematics Manipulators Motion planning Robotics
Online-Zugang:	Volltext
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