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Inverse kinematics by numerical and analytical cyclic coordinate descent

Published online by Cambridge University Press:  20 August 2010

Anders Lau Olsen  and
Henrik Gordon Petersen
Anders Lau Olsen*
Affiliation:
The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mail: [email protected]
Henrik Gordon Petersen
Affiliation:
The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

Cyclic coordinate descent (CCD) inverse kinematics methods are traditionally derived only for manipulators with revolute and prismatic joints. We propose a new numerical CCD method for any differentiable type of joint and demonstrate its use for serial-chain manipulators with coupled joints. At the same time more general and simpler to derive, the method performs as well in experiments as the existing analytical CCD methods and is more robust with respect to parameter settings. Moreover, the numerical method can be applied to a wider range of cost functions.

Keywords

Inverse kinematicsCyclic coordinate descentCoupled joints
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 619 - 626
Copyright
Copyright © Cambridge University Press 2010

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