@misc{Dulęba_Ignacy_A,
 author={Dulęba, Ignacy and Karcz-Dulęba, Iwona and Mielczarek, Arkadiusz},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run).},
 abstract={Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.},
 type={artykuł},
 title={A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators},
 keywords={manipulator, repeatable inverse kinematics, initial configuration, optimization},
}