Inverse Kinematics and Relative Arm Positioning

  • Adrià ColoméEmail author
  • Carme Torras
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 134)


When attempting to perform bimanual robot manipulation, using reliable Inverse Kinematics methods is crucial, but also how to position two robots in order to cooperate. This chapter proposes two enhancements to the current state-of-the-art Closed-Loop Inverse Kinematics (CLIK) algorithms in Sect. 3.1, to then apply them to analyze the workspace and assess the relative positioning of two arms for cooperative manipulation in Sect. 3.2.


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Institut de Robòtica i Informàtica Industrial (UPC-CSIC)BarcelonaSpain

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