Resumen de An inverse kinematics problem solver based onscrew theory for manipulator arms
Bartek Piotr Łukawski, Ignacio Montesinos, Juan Carlos Victores, Alberto Jardón Huete, Carlos Balaguer Bernaldo de Quirós
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
