Preprint Open access
Real-Time Conformal-Seeded Hybrid Inverse Kinematics for Offset Redundant Manipulators
This paper presents a conformal-seeded hybrid strategy for solving inverse kinematics of offset, redundant 7-DoF robot arms of the humanoid class. Analytical inverse kinematics (AIK) provides closed-form solutions with very low computational cost. However, for offset kinematic structures, the exact closed-form solution …