An SDP Optimization Formulation for the Inverse Kinematics Problem.
Liangting WuRoberto TronPublished in: CDC (2023)
Keyphrases
- inverse kinematics
- robot manipulators
- robot arm
- semidefinite programming
- convex relaxation
- semi definite programming
- motion planning
- semidefinite program
- position and orientation
- optimization algorithm
- end effector
- global optimization
- linear programming
- object recognition
- motion estimation
- multi objective
- joint angles
- quadratic program
- real time