2 papers
cs.RO2026
Real-Time Conformal-Seeded Hybrid Inverse Kinematics for Offset Redundant Manipulators
Duc Cuong Vu, Van Tung Nguyen, Duc Hai Nguyen +3
This paper presents a conformal-seeded hybrid strategy for solving inverse kinematics of offset, redundant 7-DoF robot arms of the humanoid class. Analytical inverse kinematics (AI…
cs.RO2026
Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection
Minh Nhat Vu, Khang Nguyen, Vu Trung Tran +1
We present a unified framework that turns a set of 6-DoF inspection viewpoints into a time-optimal, collision-free route for a 9-DoF robotic system. Unlike modular pipelines that f…