In this paper, it is considered the inverse kinematics problem, which is faced from a differential point of view. In particular, it is shown that an asymptotic inverse kinematics can be interpreted as a Lie symmetry of the direct kinematics. A parameterization of all Lie symmetries of the direct kinematics is proposed, and the classical Newton and gradient method are obtained as particular cases.

Menini, L., Tornambe', A. (2012). A Lie symmetry approach for the solution of the inverse kinematics problem. NONLINEAR DYNAMICS, 69(4), 1965-1977 [10.1007/s11071-012-0400-8].

A Lie symmetry approach for the solution of the inverse kinematics problem

MENINI, LAURA;TORNAMBE', ANTONIO
2012-01-01

Abstract

In this paper, it is considered the inverse kinematics problem, which is faced from a differential point of view. In particular, it is shown that an asymptotic inverse kinematics can be interpreted as a Lie symmetry of the direct kinematics. A parameterization of all Lie symmetries of the direct kinematics is proposed, and the classical Newton and gradient method are obtained as particular cases.
2012
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - AUTOMATICA
English
Con Impact Factor ISI
Menini, L., Tornambe', A. (2012). A Lie symmetry approach for the solution of the inverse kinematics problem. NONLINEAR DYNAMICS, 69(4), 1965-1977 [10.1007/s11071-012-0400-8].
Menini, L; Tornambe', A
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/75311
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