A convex programming approach to the inverse kinematics problem for manipulators under constraints

DOI10.1016/j.ejcon.2016.09.001zbMath1403.93138OpenAlexW2521628183MaRDI QIDQ1662990

Gianfranco Fenu, Felice Andrea Pellegrino, Giulia Giordano, Franco Blanchini

Publication date: 21 August 2018

Published in: European Journal of Control (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/11368/2890170

zbMATH Keywords

convex programminginverse kinematicsconstraintsrobotic manipulators

Mathematics Subject Classification ID

Convex programming (90C25) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Uses Software

• CVX
• CVXGEN

Cites Work

• CVXGEN: a code generator for embedded convex optimization
• Parallel robots.
• Two optimization algorithms for solving robotics inverse kinematics with redundancy
• Graph Implementations for Nonsmooth Convex Programs
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Control of manipulators in a constrained workspace by means of linked invariant sets
• Planning Algorithms

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