Task-directed inverse kinematics for redundant manipulators |
| |
Authors: | Mark K Long |
| |
Affiliation: | (1) Jet Propulsion Laboratory, California Institute of Technology, 91109 Pasadena, CA, USA |
| |
Abstract: | This paper presents kinematic algorithms for resolved-rate based inverse kinematics of redundant manipulators. Efficient and robust Jacobian and weighted damped least squares algorithms are given which provide a method that allows full utilization of the redundancy to best achieve task requirements. A nominal set of task space variables is suggested and procedures for modifying this specification or their relative priorities due to changing task requirements or events are discussed. Examples are shown using a simulation of the seven degree-of-freeom Robotics Research manipulator. These simulations demonstrate the singularity robustness of the algorithms and the ability to smoothly transition between task parameterizations and relative priorities. |
| |
Keywords: | Redundant manipulators kinematics inverse kinematics algorithms redundancy resolution |
本文献已被 SpringerLink 等数据库收录! |