A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization-Reference-Cited by-同舟云学术

A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization

Published:2023-07-17 Issue:4 Volume:108 Page:
ISSN:0921-0296
Container-title:Journal of Intelligent & Robotic Systems
language:en
Short-container-title:J Intell Robot Syst

Author:

Xu Zichun,Li Yuntao,Yang Xiaohang,Zhao Zhiyuan,Zhao Jingdong^ORCID,Liu Hong

Funder

National Natural Science Foundation of China

State Key Laboratory of Robotics and System

Key Lab. of Science and Technology on Space Flight Dynamics

Publisher

Springer Science and Business Media LLC

Subject

Electrical and Electronic Engineering,Artificial Intelligence,Industrial and Manufacturing Engineering,Mechanical Engineering,Control and Systems Engineering,Software

Link

https://link.springer.com/content/pdf/10.1007/s10846-023-01895-2.pdf

Reference48 articles.

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3. Kim, J., Kwon, S.-I., Moon, Y., Kim, K.: Cable-movable rolling joint to expand workspace under high external load in a hyper-redundant manipulator. IEEE/ASME Trans. Mechatron. 27(1), 501–512 (2021). https://doi.org/10.1109/TMECH.2021.3067335

4. Sadeghian, H., Zokaei, F., Hadian Jazi, S.: Constrained kinematic control in minimally invasive robotic surgery subject to remote center of motion constraint. J. Intell. Robot. Syst. 95(3), 901–913 (2019). https://doi.org/10.1007/s10846-018-0927-0

5. Aristidou, A., Lasenby, J.: FABRIK: A fast, iterative solver for the inverse kinematics problem. Graph. Model. 73(5), 243–260 (2011). https://doi.org/10.1016/j.gmod.2011.05.003