We have solved the problem using inverse kinematics. The result is the plotted trajectory of the robot's end point along defined points of the robot's workspace. The angular quantities computed are the rotation angle, angular velocity and angular acceleration in each ...
Meanwhile, the neural network exhibits a promising performance in solving inverse kinematics. 展开 关键词: Neural Network Calibration Inverse Kinematics Robot Arm DOI: 10.1007/978-3-319-05582-4_50 被引量: 18 年份: 2014 收藏 引用 批量引用 报错 分享 ...
Model Floating-Base Robot To use the inverseKinematics solver for a floating-base robot, you must model a floating base rigid body and attach it to the fixed base of the robotic manipulator rigid body tree using six, consecutive one degree of freedom (DOF) joints. These six joints, consistin...
DOFhumanoidrobotarm Hardwaredescription Structureofthe6-DOFhumanoidrobotarm Kinematicsofthehumanoidrobotarm Forwardkinematics Inversekinematics Simulationresults Conclusion * ABSTRACT Thispaperpresentsa6-DOFrobotarmsystem. UsingtherobotarmassembledbysevenAIservos(RX-64),setuprobot‘scoordinatesystemwiththeD-H...
Analytical IK is mainly used for robots with low degrees of freedom (DoF) due to the nonlinearity of the kinematics equations and the lack of scalability for redundant robot configurations. Example:Derive and Apply Inverse Kinematics to Two-Link Robot Arm ...
Applications of SOM to the robot inverse kinematics problem are given in References [37, 45, 50]. In each of these, either the robot has no redundant DoF, or the redundancy is resolved at training time, with only a single solution along a single branch available at runtime. That is, tr...
One of the problems in robotics field is, finding the solution of Inverse Kinematics (IK) problem. Traditional methods such as iterative, geometric and algebraic are inadequate if the joint structure of the robot is more complex. As the complexity of manipulator increases, solution of IK is diff...
sdu_controllers is a C++ library that implements fundamental robot controllers. The library is developed and maintained by the SDU Robotics group at University of Southern Denmark (SDU). roboticscontrol-theoryrobotics-controlforward-kinematicsinverse-dynamicsrecursive-newton-euler ...
33 use DDPG algorithm to obtain the inverse kinematics of 5-DOF arm robot. Malik et al.2 use PoE as a Forward Kinematics computation tool and the DQN as an IK solver. Adolfo et al.35 regard each joint of the robot as one agent to train a reinforcement learning model. Zhang et al....
The paper proposes a novel method for extremely fast inverse kinematics computation suitable for fast-moving manipulators and their path planning and for the animation of anthropomorphic limbs. In a preprocessing phase, the workspace of the robot is decomposed into small cells, and data sets for joi...