A Fast Evaluation of Initial Configurations in Repeatable Inverse Kinematics for Redundant Manipulators

A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the as...

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Bibliographic Details
Main Authors: Duleba Ignacy, Karcz-Duleba Iwona, Mielczarek Arkadiusz
Format: Article
Language:English
Published: Sciendo 2018-09-01
Series:International Journal of Applied Mathematics and Computer Science
Subjects:
Online Access:https://doi.org/10.2478/amcs-2018-0037