Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This article presents an efficient learning-based method to solve the <italic>inverse kinematic</italic> (IK) problem on soft robots with highly nonlinear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address...

Planning Jerk-Optimized Trajectory with Discrete Time Constraints for Redundant Robots

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool paths of which are usually complex and have a large number of discrete time constraints as waypoints. Kinematic redundancy also exists in these robotic systems. The jerk of motion is optimized in our trajectory planning method at the...