A comparative study of incremental algorithms for computing the inverse kinematics of redundant articulated

• Autorzy: Moussaoui A. , Otmani R. , Pruski A.
• Języki publikacji: EN

Abstrakty

EN

The field of control of redundant articulated mechanical systems requires the use of algorithms to compute the inverse kinematics. The fields of animation, virtual reality or game in particular, are very interested in these algorithms. We propose in this paper a comparison between several algorithms of incremental type. The considered application concerns the accessibility evaluation of an environment used by a handicapped person (an apartment, a house, an institution…). The physical disability involves a particular characteristic of the human articulated structure that gives rise to constraints that must be taken into account in computing the inverse kinematics.

Słowa kluczowe

EN

inverse kinematics; accessibility; physical disability

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2010
• Tom: Vol. 4, No. 3
• Strony: 3--9
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Moussaoui A.

autor

Otmani R.

autor

Pruski A.

• Lasc, ISEA, 7 rue Marconi, University of Metz, France, tel. + 33 3 87 31 52 81,

Bibliografia

• [1] Tolani D., Goswami A., Badler N., “Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs”, Graphical Models , vol. 62, 2000, pp. 353-388.
• [2] Kallmann M., “Analytical inverse kinematics with body posture control”, Computer animation and virtual worlds, 2008, 19, pp. 79-91.
• [3] Baerlocher P., Inverse kinematics techniques for the interactive posture control of articulated figures. Federal school of Lausanne Swaziland, PhD Thesis, 2001.
• [4] Mukundan R., A fast Inverse Kinematics Solution for an n-link Joint Chain, 5th Int. Conf. on Information Technology and Applications , 2008, pp. 349-354.
• [5] Muller-Cajar R., Mukundan R., “Triangulation: A new algorithm for Inverse Kinematics”, Proc. Image and Vision Computing , New Zealand, 2007, pp. 181-186.
• [6] Abdel-Malek K., Yu W., Yang J., Nebel K., “A mathematical method for ergonomic-based design placement”, Int. Journal of Industrial Ergonomics , 2004, pp. 375-394.
• [7] Yang J., Pitarch E.P., ”Digital Human Modeling and Virtual Reality for FCS ”, Technical Report n° VSR-04.02; the University of Iowa, Contract/PR NO.DAAE07-03-DL003/0001, 2004.
• [8] Denavit J., Hartenberg R.S., “A Kinematic Notation for Lower Pair Mechanisms Based on Matrices”, Journal of Applied Mechanics , vol . 77, 1955, pp. 215-221.
• [9] Wang L.T., Chen C.C., “A combined Optimization Method for Solving the Inverse Kinematics Problem of Mechanical Manipulators”, IEEE Transactions of Robotics and Automation , vol. 7, no. 4, 1991, pp. 489-499.
• [10] Lozano-Perez T., “Spatial planning: a configuration Space Approach”., IEEE Trans. on Computer , vol. C 32, n°2, 1983, pp. 108-120.