Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization
Filip Marić,Matthew Giamou,Soroush Khoubyarian,Ivan Petrović,Jonathan Kelly,Filip Marić,Matthew Giamou,Soroush Khoubyarian,Ivan Petrović,Jonathan Kelly
Inverse kinematics is a fundamental challenge for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for serial kinematic chains is a difficult nonlinear problem, for which closed form solutions cannot easily be obtained. Therefore, computationally efficient nume...
