Journal ArticleDOI
Coordinate Transformation: A Solution Algorithm for One Class of Robots
Lorenzo Sciavicco,Bruno Siciliano +1 more
- Vol. 16, Iss: 4, pp 550-559
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TLDR
The proposed technique can be argued by the fact that it only makes use of direct kinematics, thus resulting in a contained computational burden, and the convergence of the algorithm along any trajectory is proved.Abstract:
One of the most important features of an advanced control system for articulated robots is the capability of transforming the work space coordinates, which naturally characterize any robot task, into the corresponding joint coordinates, on which control actions are developed. For each task, the coordinate transformation problem consists in calculating one trajectory in the joint space which corresponds to the end effector trajectory, usually given in the Cartesian space. While simple kinematical structures allow for closed-form solutions, there is a class of robots for which this is not true. Typical articulated robot structures have three revolute joints at the end effector; the geometric parameters of these joints actually determine the spatial configuration of the last axes of motion. The large majority of today's nonredundant structures have three intersecting axes at the end effector, and closed form solutions do exist in this case. If the axes intersect two-by-two, as in some rather common arm design, an exact solution seems not to exist. A quite different solution algorithm is established, as compared to the trigonometric approach widely adopted so far, which yields solutions in case of two-by-two intersecting axes. The convergence of the algorithm along any trajectory is proved. Effectiveness of the proposed technique can be argued by the fact that it only makes use of direct kinematics, thus resulting in a contained computational burden. A robot prototype of the kind described above is taken as a reference in order to discuss digital implementation and develop numerical examples.read more
Citations
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Journal ArticleDOI
A solution algorithm to the inverse kinematic problem for redundant manipulators
TL;DR: Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved and the kinematics of the manipulator is appropriately augmented to include mentioned constraints; the result is an efficient, fast, closed-loop algorithm.
Journal ArticleDOI
Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator
TL;DR: Experimental results on the implementation of the damped least-squares method for the six-joint ABB IRb2000 industrial robot manipulator are presented and a number of inverse kinematics schemes are reviewed which allow robot control through kinematic singularities.
Journal ArticleDOI
A closed-loop inverse kinematic scheme for on-line joint-based robot control *
TL;DR: New second order tracking schemes are proposed which allow the on-line generation of joint position + velocity + acceleration (PVA) reference trajectories for any computed torque-like controller in sensor-based robot applications.
Journal ArticleDOI
Safety Control of Industrial Robots Based on a Distributed Distance Sensor
Giovanni Buizza Avanzini,Nicola Maria Ceriani,Andrea Maria Zanchettin,Paolo Rocco,Luca Bascetta +4 more
TL;DR: A prototype of a distributed distance sensor that can be mounted on an industrial robot, aimed at improving human safety by means of assessing the level of danger induced by the robot.
Proceedings ArticleDOI
A dynamic solution to the inverse kinematic problem for redundant manipulators
TL;DR: The inverse kinematic problem for redundant manipulators is solved based on a recently proposed dynamic solution technique and the result is an efficient, fast dynamic algorithm which only makes use of the direct kinematics of the manipulator.
References
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Resolved-acceleration control of mechanical manipulators
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Book
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Proceedings ArticleDOI
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Richard P. Paul,Bruce Shimano +1 more
TL;DR: In this paper, a direct method for assigning link coordinate systems and obtaining the end effector position, and Jacobian in terms of joint coordinates is reviewed, and techniques for obtaining the solution to these equations for kinematically simple manipulators are presented.
Proceedings ArticleDOI
A computational technique for inverse kinematics
William A. Wolovich,H. Elliott +1 more