Browsing by Subject "Inverse kinematics"

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Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy

Schappler, Moritz; Blum, Tobias; Job, Tim-David (Cham : Springer, 2022-06-18)

Geometric formulations for the inverse kinematics problem (IKP) in robotics are often set up in the full Cartesian space of three translational and three rotational coordinates (3T3R). When transferring this to tasks with ...
Modeling parallel robot kinematics for 3T2R and 3T3R tasks using reciprocal sets of Euler angles

Schappler, Moritz; Tappe, Svenja; Ortmaier, Tobias (Basel : MDPI AG, 2019)

Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific ...
Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection

Schappler, Moritz (Cham : Springer, 2023-02-25)

An optimal trajectory for the redundant coordinate for robots in tasks with rotational symmetry such as machining has to be found to ensure good performance and overall feasibility. Due to high nonlinearity of performance ...

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