Inverse Kinematics of a Redundant Manipulator Robot Using Constrained Optimization.
José Varela AldásManuel AyalaVíctor H. AndaluzMarlon SantamaríaPublished in: ICITS (2020)
Keyphrases
- inverse kinematics
- constrained optimization
- robot manipulators
- end effector
- robot arm
- position and orientation
- motion planning
- constrained optimization problems
- objective function
- penalty function
- unconstrained optimization
- joint angles
- control scheme
- mobile robot
- lagrange multipliers
- humanoid robot
- robotic systems
- path planning
- penalty functions