Sensors, Volume 24, Issue 21
November-1 2024 - 328 articles
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Cover Story: This study delves into robotic manipulation techniques that leverage environmental contact to achieve higher precision in the performing of tasks. By exploring inverse kinematics and computationally efficient quadratic programming, which optimizes movement using forward kinematics, the research addresses the challenge of maintaining control accuracy. Geometrical methods are also examined to facilitate simpler assembly and control. The approaches were implemented on a physical robotic platform, allowing for performance evaluations in real-time. The findings offer practical insights into how environmental interaction can be strategically employed to enhance robotic capabilities in dynamic conditions. View this paper