394
Views
15
CrossRef citations to date
0
Altmetric
Full Paper

On inverse kinematics with inequality constraints: new insights into minimum jerk trajectory generation

Pages 1164-1172 | Received 27 Oct 2015, Accepted 01 Jun 2016, Published online: 08 Jul 2016

References

  • Raghaven M, Roth B. Kinematic analysis of the 6r manipulator of general geometry. In: The Fifth International Symposium on Robotics Research; Tokyo; 1990. p. 263–269.
  • Raghavan M, Roth B. Solving polynomial systems for the kinematic analysis and synthesis of mechanisms and robot manipulators. J. Mech. Des. 1995;117(B):71–79.
  • Neppalli S, Csencsits MA, Jones BA, et al. Closed-form inverse kinematics for continuum manipulators. Adv. Rob. 2009;23:2077–2091.
  • Nakamura Y. Advanced robotics: redundancy and optimization. Addison-Wesley; 1991.
  • Siciliano B, Sciavicco L, Villani L, et al. Robotics: modelling, planning and control. Springer; 2009.
  • Whitney DE. The mathematics of coordinated control of prosthetic arms and manipulators. J. Dyn. Syst. Meas. Contr. 1972;12:303–309.
  • Nakamura Y, Yamane K. Dynamics computation of structure-varying kinematic chains and its application to human figures. IEEE Trans. Rob. Autom. 2000;16:124–134.
  • Chan S, Lawrence P. General inverse kinematics with the error damped pseudoinverse. In: IEEE International Conference on Robotics and Automation (ICRA); Vol. 2; Philadelphia, PA; 1988 Apr. p. 834–839.
  • Flacco F, De Luca A. Optimal redundancy resolution with task scaling under hard bounds in the robot joint space. In: IEEE International Conference on Robotics and Automation (ICRA); 2013. p. 3969–3975.
  • Siciliano B. Kinematic control of redundant robot manipulators: a tutorial. J. Intell. Rob. Syst. 1990;3:201–212.
  • Kanehiro F, Lamiraux F, Kanoun O, et al. A local collision avoidance method for non-strictly convex objects. In: Proceedings of Robotics: Science and Systems; 2008 Jun; Zurich, Switzerland.
  • Kanehiro F, Morisawa M, Suleiman W, et al. Integrating geometric constraints into reactive leg motion generation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Taipei; 2010. p. 4069–4076.
  • Kanoun O. Real-time prioritized kinematic control under inequality constraints for redundant manipulators. In: Proceedings of Robotics: Science and Systems; 2011 Jun; Los Angeles (CA), USA.
  • Escande A, Mansard N, Wieber PB. Fast resolution of hierarchized inverse kinematics with inequality constraints. In: IEEE International Conference on Robotics and Automation (ICRA); Anchorage, AK; 2010. p. 3733–3738.
  • Escande A, Mansard N, Wieber PB. Hierarchical quadratic programming: fast online humanoid-robot motion generation. Int. J. Rob. Res. 2014;33:1006–1028.
  • Faverjon B, Tournassoud P. A local based approach for path planning of manipulators with a high number of degrees of freedom. In: IEEE International Conference on Robotics and Automation (ICRA); Raleigh, NC; 1987. p. 1152–1159.

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.