scispace - formally typeset
Topic

Inverse kinematics

About: Inverse kinematics is a(n) research topic. Over the lifetime, 9215 publication(s) have been published within this topic receiving 137731 citation(s). The topic is also known as: IK.
Papers
More filters

Book
22 Mar 1994-
Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

6,238 citations


Book
01 Jan 1989-
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Abstract: From the Publisher: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.

3,667 citations


Book
01 Jan 2006-
Abstract: Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent Joint Control. 7. Dynamics. 8. Multivariable Control. 9. Force Control. 10. Geometric Nonlinear Control. 11. Computer Vision. 12. Vision-Based Control. Appendix A: Trigonometry. Appendix B: Linear Algebra. Appendix C: Dynamical Systems. Appendix D: Lyapunov Stability. Index.

2,911 citations



Journal ArticleDOI
TL;DR: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories.
Abstract: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and documentation is freely available via anonymous ftp.

838 citations


Network Information
Related Topics (5)
Motion control

22.2K papers, 359.3K citations

89% related
Robot calibration

6.7K papers, 96.3K citations

88% related
Robot kinematics

18.1K papers, 308K citations

88% related
Robot

103.8K papers, 1.3M citations

88% related
Robot control

35.2K papers, 578.8K citations

88% related
Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202215
2021393
2020429
2019499
2018515
2017474

Top Attributes

Show by:

Topic's top 5 most impactful authors

Bruno Siciliano

33 papers, 2.2K citations

Stefano Chiaverini

30 papers, 1.1K citations

Krzysztof Tchoń

30 papers, 513 citations

Ronan Boulic

30 papers, 1.2K citations

Suguru Arimoto

18 papers, 535 citations