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  4. A heuristic approach to the inverse differential kinematics problem
 
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1997
Journal Article
Title

A heuristic approach to the inverse differential kinematics problem

Abstract
Inversion of the kinematics of manipulators is one of the central problems in the field of robot arm control. The iterative use of inverse differential kinematics is a popular method of solving this task. Normally the solution of the problem requires a complex mathematical apparatus. It involves methods for solving equation systems as well as algorithms for optimization. In this paper we introduce a naïve heuristic method which works without the need for complex mathematical algorithms. This method forms a simple basis for the more sophisticated control procedures of our robot manipulator (JANUS).
Author(s)
Beyer, U.
Smieja, F.
Journal
Journal of intelligent and robotic systems  
DOI
10.1023/A:1017919815338
Language
English
AIS  
Keyword(s)
  • differential kinematic

  • autonomous agent

  • heuristic

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