Suboptimal approximations in repeatable inverse kinematics for robot manipulators

Bulletin of the Polish Academy of Sciences. Technical Sciences

I. DulebaCorresponding authorFaculty of Electronics, Wroclaw University of Science and Technology, 11/17 Janiszewski St., 50-372 Wroclaw, PolandEmailOther articles by this author:De Gruyter OnlineGoogle Scholar¹  I. Karcz-DulebaFaculty of Electronics, Wroclaw University of Science and Technology, 11/17 Janiszewski St., 50-372 Wroclaw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹ 

[1] Faculty of Electronics, Wroclaw University of Science and Technology, 11/17 Janiszewski St., 50-372 Wroclaw, Poland

关键词: Keywords: manipulator;    inverse kinematics;    repeatability;    optimization;   

DOI  :  10.1515/bpasts-2017-0025

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

In this paper a repeatable inverse kinematic task was solved via an approximation of a pseudo-inverse Jacobian matrix of a robot manipulator. An entry configuration to the task was optimized and a task-dependent definition of an approximation region, in a configuration space, was utilized. As a side effect, a relationship between manipulability and optimally augmented forward kinematics was established and independence of approximation task solutions on rotations in augmented components of kinematics was proved. A simulation study was performed on planar pendula manipulators. It was demonstrated that selection of an initial configuration to the repeatable inverse kinematic task heavily impacts solvability of the task and its quality. Some remarks on a formulation of the approximation task and its numerical aspects were also provided.

【 授权许可】

Unknown