Abstract
This article presents a numerical method for the inverse kinematics of serial chains by utilizing dual quaternion formulation of the robot kinematics within a converging paths algorithm. The method is inspired by iterative techniques such as FABRIK, however adding information on the kinematics of the chain to be solved. The method has been tested with 2R, planar 4R and spatial 4R robots. Future work includes optimizing the method to compare with other fast numeric algorithms for inverse kinematics.
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Heidari, O., Gracia, A.P. (2021). Inverse Kinematics Using a Converging Paths Algorithm. In: Lenarčič, J., Siciliano, B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-030-50975-0_2
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DOI: https://doi.org/10.1007/978-3-030-50975-0_2
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