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An analysis of RelaxedIK: an optimization-based framework for generating accurate and feasible robot arm motions
Daniel Rakitaa✉, Bilge Mutlua, Michael Lee Gleichera
- aDepartment of Computer Sciences, University of Wisconsin, Madison, USA
- ✉Corresponding author
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Abstract
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TL;DRA real-time motion-synthesis method for robot manipulators, called RelaxedIK, that is able to not only accurately match end-effector pose goals as done by traditional IK solvers, but also create smooth, feasible motions that avoid joint-space discontinuities, self-collisions, and kinematic singularities. (Semantic Scholar)