A new inverse kinematics algorithm for binary manipulators with many actuators

• Main Authors: Jackrit Suthakorn, Chrikjian, Gregory S.
• 其他作者: Mahidol University. Faculty of Engineering. Department of Mechanical Engineering
• 格式: Article
• 語言: English
• 出版: 2011
• 主題: Actuated manipulator arms; Algorithm; Inverse kinematics; Rigid-body motion; Discrete actuation; Probability density function
• 在線閱讀: https://repository.li.mahidol.ac.th/handle/123456789/3359

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...