IRI - Inverse kinematics by distance matrix completion

Publication

Inverse kinematics by distance matrix completion

Conference Article

Conference

International Workshop on Computational Kinematics (CK)

Edition

4th

Pages

1-9

Doc link

http://webuser.unicas.it/weblarm/ck05

File

Download the digital copy of the doc pdf document

Authors

Projects associated

DIST: Design and implementation of efficient parallelizable algorithms with applications to robotics and proteomics

Abstract

This paper characterizes a family of serial robots whose inverse kinematics can be translated into a system of distance constraints that can be solved using a sequence of constructive operations taking as fixed reference either a triangle or a tetrahedron. The relevance of the obtained family of robots is established when it is shown to contain the best-known commercial serial robots.

Author keywords

Cayley-Menger determinants, position analysis of robots

Scientific reference

J.M. Porta, L. Ros and F. Thomas. Inverse kinematics by distance matrix completion, 4th International Workshop on Computational Kinematics, 2005, Cassino, Italy, in Mechanism and Machine Theory, pp. 1-9, 2006, Elsevier.