Real-Time Control of Six-DOF Serial Manipulators via Learned Spherical Kinematics

Achieving reliable and real-time inverse kinematics (IK) for 6-degree-of-freedom (6-DoF) spherical-wrist manipulators remains a significant challenge. Analytical formulations often struggle with complex geometries and modeling errors, and standard numerical solvers (e.g., Levenberg–Marquardt) can st...

Бүрэн тодорхойлолт

Номзүйн дэлгэрэнгүй

Үндсэн зохиолчид:	Meher Madhu Dharmana, Pramod Sreedharan
Формат:	Artigo
Хэл сонгох:	Inglês
Хэвлэсэн:	MDPI AG 2026-01-01
Цуврал:	Robotics
Нөхцлүүд:	inverse kinematics 6-DoF spherical wrist polynomial fitting iterative correction multi-solution enumeration real-time control
Онлайн хандалт:	https://www.mdpi.com/2218-6581/15/1/27
Шошгууд:	Шошго нэмэх Шошго байхгүй, Энэхүү баримтыг шошголох эхний хүн болох!