Intuitive Motion: Acceleration-Based Inverse Kinematics on Arbitrary Coordinates
摘要
Inverse kinematics is a well-known but mathematically hard problem in robotics. Existing algorithms especially fail at singularities. Unfortunately, being in a singular knee joint position is the usual case for humans. Herein, an acceleration-based approach is proposed, capable of handling arbitrary coordinate transformations, including singular ones. The algorithm is analyzed and evaluated at the hand of a robotic leg.