Abstract
To obtain an analytical solution of inverse kinematics in complex biomechanic linkages is a difficult, even impossible problem. This could be because the kinematic redundancy and the large number of degrees of freedom that it involves. EvoNorm is a smart optimization algorithm that can be useful to solve this kind of problems. For this reason, in this work a numerical solution of the inverse kinematics problem for biomechanical linkages is proposed. It is computed using EvoNorm by minimizing a fitness function based on the joints position. Two prototypes are presented as study cases: a hand and a lower-limb exoskeleton. Results illustrate the performance of the proposed methodology.
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© 2018 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
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Pachicano, G., Rodriguez-Liñan, A., Quiroz, G., Torres, L. (2018). Inverse Kinematics Estimation Based on Smart Optimization for Biomechanical Linkages. In: Torres Guerrero, F., Lozoya-Santos, J., Gonzalez Mendivil, E., Neira-Tovar, L., Ramírez Flores, P., Martin-Gutierrez, J. (eds) Smart Technology. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 213. Springer, Cham. https://doi.org/10.1007/978-3-319-73323-4_5
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DOI: https://doi.org/10.1007/978-3-319-73323-4_5
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