## A parallel evolutionary solution for the inverse kinematics of generic robotic manipulators

- Siavash Farzan, Guilherme N. DeSouza
- IEEE Congress on Evolutionary Computation (CEC)
- 2014

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@article{Farzan2013FromDT, title={From D-H to inverse kinematics: A fast numerical solution for general robotic manipulators using parallel processing}, author={Siavash Farzan and Guilherme N. DeSouza}, journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2013}, pages={2507-2513} }

- Published in IEEE/RSJ International Conference on Intelligentâ€¦2013
DOI:10.1109/IROS.2013.6696709

We propose a robust and fast solution for the inverse kinematic problem of general serial manipulators - i.e. any number and any combination of revolute and prismatic joints. The algorithm only requires the Denavit-Hartenberg (D-H) representation of the robot as input and no training or robot-dependent optimization function is needed. In order to handle singularities and to overcome the possibility of multiple paths in redundant robots, our approach relies on the computation of multipleâ€¦Â CONTINUE READING