STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms

Sagar, Keerthi; Ramadoss, Vishal; Zlatanov, Dimiter; Zoppi, Matteo

doi:10.1109/iros45743.2020.9340991

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2022

2024

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Cited by 3 publications

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“…MATLAB TM toolboxes can be found that fulfill the same goal [3], [11]. Graphical interfaces provide a means to properly visualize and understand the geometrical implications of screws [12]. However, a C++ API for solving inverse kinematics problems in robotics regardless of the mathematical backend was lacking at the time of conceiving this paper.…”

Section: Orocos Kdlmentioning

confidence: 99%

An inverse kinematics problem solver based on screw theory for manipulator arms

Łukawski¹,

Valle²,

Victores³

et al. 2022

XLIII Jornadas De Automática: Libro De Actas: 7, 8 Y 9 De Septiembre De 2022, Logroño (La Rioja)

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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 operations.

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Section: Orocos Kdlmentioning

confidence: 99%