IEEE Transactions on Systems, Man and Cybernetics
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
Robot Motion Planning
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Motion planning efficient trajectories for industrial bin-picking
International Journal of Robotics Research
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Cyclic coordinate descent (CCD) inverse kinematics methods are traditionally derived only for manipulators with revolute and prismatic joints. We propose a new numerical CCD method for any differentiable type of joint and demonstrate its use for serial-chain manipulators with coupled joints. At the same time more general and simpler to derive, the method performs as well in experiments as the existing analytical CCD methods and is more robust with respect to parameter settings. Moreover, the numerical method can be applied to a wider range of cost functions.