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.File in questo prodotto:
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