A Lie symmetry approach for the solution of the inverse kinematics problem

作者：Menini Laura; Tornambe Antonio^*

来源：Nonlinear Dynamics, 2012, 69(4): 1965-1977.

DOI：10.1007/s11071-012-0400-8

• Lie symmetries
• Asymptotic inverse kinematics
• First integrals
• Semiinvariants

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.

• 出版日期2012-9