A Deep Learning Approach to Navigating the Joint Solution Space of Redundant Inverse Kinematics and Its Applications to Numerical IK Computations
As an increasing number of robotic manipulators possess seven or more degrees-of-freedom (DoF), solving inverse kinematic (IK) for kinematically redundant manipulators is becoming critical. Numerical optimizations are commonly used to solve the problem due to their generality and accuracy. Unfortuna...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10005285/ |