Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Globally Optimal Solution to Inverse Kinematics of 7DOF Serial
  Manipulator   The Inverse Kinematics (IK) problem is to nd robot control parameters to
bring it into the desired position under the kinematics and collision
constraints. We present a global solution to the optimal IK problem for a
general serial 7DOF manipulator with revolute joints and a quadratic polynomial
objective function. We show that the kinematic constraints due to rotations can
all be generated by second-degree polynomials. This is important since it
signicantly simplies further step where we nd the optimal solution by Lasserre
relaxations of non-convex polynomial systems. We demonstrate that the second
relaxation is sucient to solve the 7DOF IK problem. Our approach is certiably
globally optimal. We demonstrate the method on the 7DOF KUKA LBR IIWA
manipulator and show that we are able to compute the optimal IK or certify
in-feasibility in 99 % tested poses.

14
The categories of this paper are: math-ph
36
The categories of this paper are: cmp-lg
21
The categories of this paper are: adap-org
35
The categories of this paper are: mtrl-th
4
The categories of this paper are: cond-mat
25
The categories of this paper are: patt-sol
7
The categories of this paper are: hep-th
34
The categories of this paper are: chem-ph
22
The categories of this paper are: chao-dyn
20
The categories of this paper are: acc-phys
30
The categories of this paper are: q-alg
16
The categories of this paper are: stat
33
The categories of this paper are: plasm-ph
37
The categories of this paper are: supr-con
15
The categories of this paper are: nucl-ex
29
The categories of this paper are: funct-an