Solve inverse kinematics through a new quadratic minimization technique

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    A new technique was developed to solve inverse kinematics based on quadratic minimization. Firstly the inverse kinematic problem was formulated as a quadratic minimization problem through the constitution of a quadratic objective function derived from quaternion based kinematic description, then a new technique is developed to solve the quadratic minimization problem. The iteration procedures of the new technique are organized in two main phases: compute the search direction based on dynamic system synthesis; seek for acceptable step along the search direction. Numerical examples showed that inverse kinematic solutions can be delivered in a robust and time-efficient way, to meet the requirements coming across in the application field of every daily living support.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Pages306-313
    Number of pages8
    DOIs
    Publication statusPublished - 2012
    Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung
    Duration: 2012 Jul 112012 Jul 14

    Other

    Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
    CityKaohsiung
    Period12/7/1112/7/14

    Fingerprint

    Inverse kinematics
    Dynamical systems
    Kinematics

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Wang, W., Suga, Y., Iwata, H., & Sugano, S. (2012). Solve inverse kinematics through a new quadratic minimization technique. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 306-313). [6266007] https://doi.org/10.1109/AIM.2012.6266007

    Solve inverse kinematics through a new quadratic minimization technique. / Wang, Wei; Suga, Yuki; Iwata, Hiroyasu; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. p. 306-313 6266007.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Wang, W, Suga, Y, Iwata, H & Sugano, S 2012, Solve inverse kinematics through a new quadratic minimization technique. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 6266007, pp. 306-313, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012, Kaohsiung, 12/7/11. https://doi.org/10.1109/AIM.2012.6266007
    Wang W, Suga Y, Iwata H, Sugano S. Solve inverse kinematics through a new quadratic minimization technique. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. p. 306-313. 6266007 https://doi.org/10.1109/AIM.2012.6266007
    Wang, Wei ; Suga, Yuki ; Iwata, Hiroyasu ; Sugano, Shigeki. / Solve inverse kinematics through a new quadratic minimization technique. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. pp. 306-313
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