On inverse kinematics with inequality constraints: new insights into minimum jerk trajectory generation.
Wael SuleimanPublished in: Adv. Robotics (2016)
Keyphrases
- inverse kinematics
- inequality constraints
- robot arm
- constrained optimization
- robot manipulators
- nonlinear programming
- motion planning
- interior point methods
- position and orientation
- equality constraints
- linear programming
- evolutionary algorithm
- path planning
- degrees of freedom
- machine learning
- simulated annealing
- constrained optimization problems
- video sequences
- computer vision