A Lie symmetry approach for the solution of the inverse kinematics problem |
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Authors: | Laura Menini Antonio Tornambè |
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Affiliation: | 1. Dipartimento di Informatica, Sistemi e Produzione, Universit?? di Roma Tor Vergata, via del Politecnico, 1, 00133, Rome, Italy
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Abstract: | In this paper, it is considered the inverse kinematics problem, which is faced from a differential point of view. In particular, it is shown that an asymptotic inverse kinematics can be interpreted as a Lie symmetry of the direct kinematics. A parameterization of all Lie symmetries of the direct kinematics is proposed, and the classical Newton and gradient method are obtained as particular cases. |
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