Inverse kinematics techniques in computer graphics: A survey
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 …
a manipulator so that the end effector moves to a desired position; IK can be applied in many …
A study on solving the inverse kinematics of serial robots using artificial neural network and fuzzy neural network
J Demby's, Y Gao, GN DeSouza - 2019 IEEE international …, 2019 - ieeexplore.ieee.org
One of the most important problems in robotics is the computation of the inverse kinematics
(IK). This apparently simple task is necessary to determine how to move each joint in order …
(IK). This apparently simple task is necessary to determine how to move each joint in order …
[HTML][HTML] Unlocking the Potential of Cable-Driven Continuum Robots: A Comprehensive Review and Future Directions
Rigid robots have found wide-ranging applications in manufacturing automation, owing to
their high loading capacity, high speed, and high precision. Nevertheless, these robots …
their high loading capacity, high speed, and high precision. Nevertheless, these robots …
Parallel inverse kinematics for multithreaded architectures
In this article, we present a parallel prioritized Jacobian-based inverse kinematics algorithm
for multithreaded architectures. We solve damped least squares inverse kinematics using a …
for multithreaded architectures. We solve damped least squares inverse kinematics using a …
A synthetic inverse kinematic algorithm for 7-DOF redundant manipulator
J Zhao, T Xu, Q Fang, Y Xie… - 2018 IEEE International …, 2018 - ieeexplore.ieee.org
This paper proposes a synthetic inverse kinematic algorithm for computing numerical
solutions of 7-DOF redundant manipulators designed and developed by our laboratory. The …
solutions of 7-DOF redundant manipulators designed and developed by our laboratory. The …
Solving inverse kinematics of a 7-DOF manipulator using convolutional neural network
HA Elkholy, AS Shahin, AW Shaarawy… - Proceedings of the …, 2020 - Springer
This paper presents a way to solve inverse kinematics of a 7-DOF manipulator using artificial
neural networks. The manipulator consists of a 6-DOF articulated arm installed on a linear …
neural networks. The manipulator consists of a 6-DOF articulated arm installed on a linear …
Choosing the correct generalized inverse for the numerical solution of the inverse kinematics of incommensurate robotic manipulators
J Demby's, J Uhlmann, GN DeSouza - arXiv preprint arXiv:2308.02954, 2023 - arxiv.org
Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the
IK until the end-effector is brought from its initial pose to the desired final pose. These …
IK until the end-effector is brought from its initial pose to the desired final pose. These …
Exploiting multi-level parallelism for run-time adaptive inverse kinematics on heterogeneous mpsocs
This paper presents a run-time solver for the inverse kinematics of a robotic arm
implemented on a heterogeneous Multi-Processor System-on-Chip (MPSoC). The solver …
implemented on a heterogeneous Multi-Processor System-on-Chip (MPSoC). The solver …
Pose optimization of a C-arm imaging device to reduce intraoperative radiation exposure of staff and patient during interventional procedures
Minimally-invasive (MI) procedures are becoming more popular and frequent due to their
benefits such as reduced patient trauma and hospitalization time. However, several common …
benefits such as reduced patient trauma and hospitalization time. However, several common …
Singularity-robust inverse kinematics solver for tele-manipulation
V Ortenzi, N Marturi, V Rajasekaran… - 2019 IEEE 15th …, 2019 - ieeexplore.ieee.org
This paper investigates the effect of inverse kinematics (IK) on operator performance during
the telemanipulation of an industrial robot. Robotic teleoperation is often preferred when …
the telemanipulation of an industrial robot. Robotic teleoperation is often preferred when …