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Singularity-Robust Inverse Kinematics for Serial Manipulators

Dulęba, Ignacy

Mar 04, 2024

Singularity-Robust Inverse Kinematics for Serial Manipulators's Cover Image

Journal of Automation, Mobile Robotics and Intelligent Systems

Volume 17 (2023): Issue 3 (September 2023)

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Published Online: Mar 04, 2024

Page range: 38 - 45

Received: Dec 04, 2022

Accepted: Apr 21, 2023

DOI: https://doi.org/10.14313/jamris/3-2023/21

Keywords
Serial manipulator, Forward kinematics, Jacobi matrix, Inverse kinematics, Singularities, Robustness, Evaluation

© 2023 Ignacy Dulęba, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Dulęba, Ignacy

Department of Cybernetics and Robotics, Wroclaw University of Science and TechnologyWroclaw, Poland

Language:: English

Publication timeframe:: 4 times per year
Journal Subjects:: Computer Sciences, Artificial Intelligence, Engineering, Electrical Engineering, Control Engineering, Metrology and Testing, Mechanical Engineering, Fundamentals of Mechanical Engineering

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