Alex Elias
Efficient and Singularity-Robust Inverse Kinematics and Redundancy Resolution
Alex Elias Email
Alex Elias Email
Alex Elias GitHub
Alex Elias GitHub
Alex Elias YouTube
Alex Elias YouTube
Alex Elias LinkedIn
Alex Elias LinkedIn
Late Breaking Poster: Path Planning and Optimization for Cuspidal 6R Manipulators | 14:45 - 15:15 | Wed 21 May | Hall A1/A2 | WeLB2R.29
Late Breaking Poster: Path Planning and Optimization for Cuspidal 6R Manipulators | 14:45 - 15:15 | Wed 21 May | Hall A1/A2 | WeLB2R.29
Code
Cuspidal Path Planning
Cuspidal Path Planning
IK-Geo
IK-Geo
Inverse kinematics and subproblem solutions from "IK-Geo: Unified robot inverse kinematics using subproblem decomposition" implemented in MATLAB, C++, Rust, and Python. - rpiRobotics/ik-geo
Polynomial Method
Polynomial Method
Solving robot IK by finding zeros of a polynomial, from "IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition" and "Redundancy parameterization and inverse kinemat...
Stereographic SEW Angle
Stereographic SEW Angle
MATLAB Diagrams Library
MATLAB Diagrams Library
Papers
Path Planning and Optimization for Cuspidal 6R Manipulators
Path Planning and Optimization for Cuspidal 6R Manipulators
IK-Geo: Unified robot inverse kinematics using subproblem decomposition
IK-Geo: Unified robot inverse kinematics using subproblem decomposition
Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators
Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators
Videos
Sawyer inverse kinematics solutions using 1D search
Sawyer inverse kinematics solutions using 1D search
Multimedia extension #2 for "Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators"Using the subproblem decomposition approach, t...
Comparing conventional and stereographic SEW angles
Comparing conventional and stereographic SEW angles
Multimedia extension #1 for "Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators"Whereas the conventional SEW angle results in ...
Least-squares and singular IK solutions for ABB IRB 6640
Least-squares and singular IK solutions for ABB IRB 6640
Multimedia extension #1 for "IK-Geo: Unified robot inverse kinematics using subproblem decomposition"IK-Geo uses the subproblem decomposition method to find ...
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