Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits.
Masanori SekiguchiNaoyuki TakesuePublished in: Adv. Robotics (2021)
Keyphrases
- inverse kinematics
- numerical methods
- joint angles
- robot arm
- robot manipulators
- differential equations
- finite element method
- position and orientation
- motion planning
- boundary element method
- partial differential equations
- end effector
- feature vectors
- mathematical model
- higher order
- viewpoint
- multiscale
- computer vision
- neural network