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Suboptimal approximations in repeatable inverse kinematics for robot manipulators

Duleba I., Karcz-Duleba I.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2017

Vol. 65, nr 2

209--217

In this paper a repeatable inverse kinematic task was solved via an approximation of a pseudo-inverse Jacobian matrix of a robot manipulator. An entry configuration to the task was optimized and a task-dependent definition of an approximation region, in a configuration space, was utilized. As a side effect, a relationship between manipulability and optimally augmented forward kinematics was established and independence of approximation task solutions on rotations in augmented components of kinematics was proved. A simulation study was performed on planar pendula manipulators. It was demonstrated that selection of an initial configuration to the repeatable inverse kinematic task heavily impacts solvability of the task and its quality. Some remarks on a formulation of the approximation task and its numerical aspects were also provided.

Metody animacji wirtualnych postaci w interaktywnym środowisku trójwymiarowym

Grudziński T., Grudziński J., Dębowski A.

Studia Informatica

2008

Vol. 29, nr 1

87-97

W publikacji przedstawiono kierunki badań prowadzonych na świecie w zakresie sterowania ruchem wirtualnej postaci ludzkiej oraz zarysowano możliwe drogi rozwoju tematu. Położono nacisk na zagadnienia związane z wpływaniem na ruch postaci obliczany w czasie rzeczywistym.

The paper presents the research directions in the subject of virtual characters animation control. The possibilities of future research are given. The emphasis is put on the issues of interactive animation computed in real time.