A new inverse kinematics algorithm for binary manipulators with many actuators

• Main Authors: Jackrit Suthakorn, Chrikjian, Gregory S.
• Other Authors: Mahidol University. Faculty of Engineering. Department of Mechanical Engineering
• Format: Article
• Language: English
• Published: 2011
• Subjects: Actuated manipulator arms; Algorithm; Inverse kinematics; Rigid-body motion; Discrete actuation; Probability density function
• Online Access: https://repository.li.mahidol.ac.th/handle/123456789/3359
• Institution: Mahidol University

In this paper we present a new, and extremely fast, algorithm for the inverse kinematics of discretely actuated manipulator arms with many degrees of freedom. Our only assumption is that the arm is macroscopicallyserial in structure, meaning that the overall structure is a serial cascade of units...