An inverse kinematics problem solver based onscrew theory for manipulator arms

• Łukawski, Bartek ^[1] ; Montesino Valle, Ignacio ^[1] ; Victores, Juan G. ^[1] ; Jardón Huete, Alberto ^[1] ; Balaguer, Carlos ^[1]
  1. [1] Universidad Carlos III de Madrid

     Universidad Carlos III de Madrid

     Madrid, España

     
• Localización: XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja) / coord. por Carlos Balaguer Bernaldo de Quirós, José Manuel Andújar Márquez, Ramón Costa Castelló, C. Ocampo-Martínez, Juan Jesús Fernández Lozano, Matilde Santos Peñas, José Simó, Montserrat Gil Martínez, José Luis Calvo Rolle, Raúl Marín, Eduardo Rocón de Lima, Elisabet Estévez Estévez, Pedro Jesús Cabrera Santana, David Muñoz de la Peña Sequedo, José Luis Guzmán Sánchez, José Luis Pitarch Pérez, Óscar Reinoso García, Óscar Déniz Suárez, Emilio Jiménez Macías, Vanesa Loureiro-Vázquez, 2022, ISBN 978-84-9749-841-8, págs. 864-869
• Idioma: inglés
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• Resumen

  • Several methodologies exist for solving the inverse kinematics of a manipulator arm. Basing on screw theory, it is possible to efficiently obtain complete and exact solutions. An open-source C++ implementation of an automated problem solver of this kind is introduced, and a comparative with selected known algorithms is established using the TEO humanoid robot platform by Universidad Carlos III de Madrid. The Orocos Kinematics and Dynamics Library is used for geometry and motion-related operations