Abstract
Finding solutions to inverse kinematics is often the most critical part in designing any robotic system. There exist multiple ways to find a solution for the inverse kinematics. In this paper, a geometric approach to compute Inverse Kinematics is presented. This geometric approach is compared with the Pseudo-Inverse Jacobian Method and the results are discussed. The geometric approach outperforms the Jacobian method in terms of substantially reduced computational complexity and therefore enabling its implementation on a less powerful microcontroller.
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Gupta, A., Bhargava, P., Agrawal, S., Deshmukh, A., Kadam, B. (2018). Comparative Study of Different Approaches to Inverse Kinematics. In: Singh, M., Gupta, P., Tyagi, V., Flusser, J., Ören, T. (eds) Advances in Computing and Data Sciences. ICACDS 2018. Communications in Computer and Information Science, vol 906. Springer, Singapore. https://doi.org/10.1007/978-981-13-1813-9_55
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DOI: https://doi.org/10.1007/978-981-13-1813-9_55
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