A Solution to Inverse Kinematics Problem Using the Concept of Sampling Importance Resampling

Sapra, Rachit; Mathew, Michael; Majumder, S.

doi:10.1109/acct.2014.21

Cited by 6 publications

(3 citation statements)

References 11 publications

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“…[HRE*08] and Sapra et al . [SMM14], which use a body pose goals set and attempt to satisfy the goals by forming a system of constraints over the linked character bodies. Recently, Huang et al .…”

Section: Hybrid Methodsmentioning

confidence: 99%

Inverse Kinematics Techniques in Computer Graphics: A Survey

Aristidou

Lasenby

Chrysanthou

et al. 2017

Computer Graphics Forum

181

103

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Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, including robotics, engineering, computer graphics and video games. In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The paper starts with the definition of forward and IK, their mathematical formulations and explains how to distinguish the unsolvable cases, indicating when a solution is available. The IK literature in this report is divided into four main categories: the analytical, the numerical, the data‐driven and the hybrid methods. A timeline illustrating key methods is presented, explaining how the IK approaches have progressed over the years. The most popular IK methods are discussed with regard to their performance, computational cost and the smoothness of their resulting postures, while we suggest which IK family of solvers is best suited for particular problems. Finally, we indicate the limitations of the current IK methodologies and propose future research directions.

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Section: Hybrid Methodsmentioning

confidence: 99%

Inverse Kinematics Techniques in Computer Graphics: A Survey

Aristidou

Lasenby

Chrysanthou

et al. 2017

Computer Graphics Forum

181

103

View full text Add to dashboard Cite

show abstract

“…Compared with a single-arm space robot, a dual-arm robot can perform more complex missions and has better flexibility and dexterity. Many countries are paying more and more attention to the development of space robot, which can improve the efficiency of space exploration [1][2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

Liu

Xie

Zhang

et al. 2016

Journal of Control Science and Engineering

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In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

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“…Despite of its advantages, the parallel manipulator poses some challenges regarding to the limited workspace, singularities within the workspace and, finally, their kinematics model resolution [5]. Since the kinematics of parallel robot problem often contains the solving of the non-linear transcendental equations, it is not always possible to obtain a closed form solution [6]. Therefore, the selection of an efficient mathematical model is very crucial to simplify the kinematics problems in parallel robots [3].…”

Section: Introductionmentioning

confidence: 99%

A Techniques to Downgrade Objective Function in Parallel Robot Kinematics Problem

Trang

Long

2015

IJRA

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Quadratic functions and quaternary functions are preferable forms solving parallel robot kinematics problems. In order to simplify and to use only one method to solve all forms of the objective functions, this article introduces prevalent techniques to downgrade mathematical model of the objective functions from quaternary function to quadratic function in parallel robot kinematics problem. By using equivalent alternative kinematic structure and additional mathematical constraints, we will change from the study of parallel robot kinematics problem with the form of quaternary objective function as the original configuration to equivalent alternative configuration in the form of quadratic objective function. The parallel robot kinematics problem based on alternative configuration with quadratic objective function is not only simpler but also helps to quickly identify the mathmatical relationships in the joint space and work space of parallel robot. Then, more accurate control solution of parallel robot kinematics problem can be identified. Moreover, by using techniques in this study, all forms of objective functions of parallel robot of any structure can be easily solved. The result from numerical simulation has been used to prove the presented approaches.

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A Solution to Inverse Kinematics Problem Using the Concept of Sampling Importance Resampling

Cited by 6 publications

References 11 publications

Inverse Kinematics Techniques in Computer Graphics: A Survey

Inverse Kinematics Techniques in Computer Graphics: A Survey

Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

A Techniques to Downgrade Objective Function in Parallel Robot Kinematics Problem

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