Abstract
This paper proposes a new architecture for model-based inverse kinematics, in which the task space is described by an explicit model; and it describes a specific implementation of this architecture in which the task-space model is a Lie group representing an n-tuple of displacements to be realized by the mechanism. The objective of this work is to increase the generality of model-based kinematics software.
This work was supported by SERC Advanced Fellowship number B92/AF/1466 and starter grant number GR/J20272. My thanks to Bill Triggs for his comments on this paper.
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© 1994 Springer Science+Business Media Dordrecht
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Featherstone, R. (1994). Explicit Modelling of General Task Spaces for Inverse Kinematics. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_30
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DOI: https://doi.org/10.1007/978-94-015-8348-0_30
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