Real-time control of the endeffector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates inverse kinematics learning for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning approach is based on the key observations t...

For robotic manipulators that are redundant or with high degrees of freedom (dof ), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kine...

In order to reach an object, we need to solve the inverse kinematics problem, i.e., the coordinate transformation from the visual coordinates to the joint angle vector of the arm. The learning of the inverse kinematics model for calculating every joint angle that would result in a speci"c hand position is important. However, the inverse kinematics function of the human arm is a multi-valued and...

For redundant robot kinematics we construct an extended Jacobian inverse that approximates the Jacobian pseudo-inverse. Our construction relies on the approximation of codistributions associated with the Jacobian pseudo-inverse by an integrable codistribution, spanned by differentials of certain functions that serve as components of the augmenting kinematics map in the extended Jacobian inverse...

— For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution to the inverse kinematics of a widely u...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. This paper reviews the well-known methods used to find the inverse kinematics of redundant manipulators. Because redundant manipulators have infinite solutions for their inverse kinematics, therefore the conventional method that was used to calculate the inverse kin...

In this paper, the inverse kinematics solutions for 16 industrial 6-Degrees-of-Freedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In order to illustrate the performance of th...

Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...

Recently, fast and practical inverse kinematics (IK) methods for complicated human models have gained considerable interest owing to the spread of convenient motion-capture or human-augmentation technologies. Although IK algorithms developed in robotics can also be applied humans, they experience computational speed issues, especially real-time applications. This paper presents a new algorithm ...