Fig. 6: Inverse kinematic (IK) model evaluation and interactive applications based on the IK model.
From: A dexterous and compliant aerial continuum manipulator for cluttered and constrained environments
“CMD” means commands and “EST” means estimates. \([{p}_{x}^{e},{p}_{y}^{e},{p}_{z}^{e}]\) and \([{q}_{x}^{e},{q}_{y}^{e},{q}_{z}^{e},{q}_{w}^{e}]\) denote arm tip’s position and orientation. [α, β] denotes arm’s configuration space. Sobj and mobj denote object’s grasped area and weight. a Inverse kinematic model evaluation. b Obstacle avoidance c Vertical object winding. d Horizontal object winding. e Evaluation of the object winding range.
