Geometry-Based Two-Contact Inverse Kinematic Solution for Whole Arm Manipulation
Pascal Gliesche,Christian Kowalski,Max Pfingsthorn,Andreas Hein,Pascal Gliesche,Christian Kowalski,Max Pfingsthorn,Andreas Hein
Whole-arm manipulation (WAM) is often used to manipulate large and bulky objects. Contact point-based methods for generating the robot configurations for WAM mostly search for suitable contact points and configurations simultaneously. However, in order to learn good contact points, or allow an operator to select them, inverse kinematics (IK) solvers are needed which take such points along with a s...
