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 publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages306-313
Number of pages8
DOIs
Publication statusPublished - 2012 Oct 5
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: 2012 Jul 112012 Jul 14

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan, Province of China
CityKaohsiung
Period12/7/1112/7/14

    Fingerprint

ASJC Scopus subject areas

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

Cite this

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