Inverse Kinematics Based on Quaternionic Descending Gradient for Kinematic Chains
Abstract
A generalized algorithm is proposed to find the inverse kinematics of position and velocity of kinematic chains with revolute joints of n-DOF. To this end, the descending gradient technique is used, finding the near setting in redundant systems using the current condition, with possibility to compute a new trajectory with the propose to obstacle avoidance. The numerical validation is carried out with two kinematic chains, explaining the proposed method in a graphical and intuitive way, in the same way an experimental validation in local haptic guidance tasks is presented using a 3-DOF haptic device.Downloads
References
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