- Tytuł:
- A comparison of methods solving repeatable inverse kinematics for robot manipulators
- Autorzy:
-
Duleba, I.
Karcz-Duleba, I. - Powiązania:
- https://bibliotekanauki.pl/articles/229288.pdf
- Data publikacji:
- 2018
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
manipulator
inverse kinematics
repeatability
optimization
algorithms - Opis:
- In this paper two recent methods of solving a repeatable inverse kinematic task are compared. The methods differ substantially although both are rooted in optimization techniques. The first one is based on a paradigm of continuation methods while the second one takes advantage of consecutive approximations. The methods are compared based on a quality of provided results and other quantitative and qualitative factors. In order to get a statistically valuable comparison, some data are collected from simulations performed on pendula robots with different paths to follow, initial configurations and a degree of redundancy.
- Źródło:
-
Archives of Control Sciences; 2018, 28, 1; 5-18
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki