Journal ArticleDOI
Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
Charles W. Wampler
- Vol. 16, Iss: 1, pp 93-101
TLDR
To overcome the difficulties encountered near kinematic singularities, the exact inverse problem is reformulated as a damped least-squares problem, which balances the error in the solution against the size of the solution.Abstract:
Inverse kinematic solutions are used in manipulator controllers to determine corrective joint motions for errors in end-effector position and orientation. Previous formulations of these solutions, based on the Jacobian matrix, are inefficient and fail near kinematic singularities. Vector formulations of inverse kinematic problems are developed that lead to efficient computer algorithms. To overcome the difficulties encountered near kinematic singularities, the exact inverse problem is reformulated as a damped least-squares problem, which balances the error in the solution against the size of the solution. This yields useful results for all manipulator configurations.read more
Citations
More filters
Proceedings ArticleDOI
V-REP: A versatile and scalable robot simulation framework
TL;DR: A versatile, scalable, yet powerful general-purpose robot simulation framework called V-REP, which allows for direct incorporation of various control techniques and renders simulations and simulation models more accessible to a general-public, by reducing the simulation model deployment complexity.
Journal ArticleDOI
The attitude control problem
TL;DR: In this article, a general framework for the analysis of the attitude tracking control problem for a rigid body is presented and a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body.
Journal ArticleDOI
Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators
TL;DR: A new task-priority redundancy resolution technique is developed that overcomes the effects of algorithmic singularities and is applied to a seven-degree-of-freedom manipulator in numerical case studies to demonstrate its effectiveness.
Proceedings ArticleDOI
A general framework for managing multiple tasks in highly redundant robotic systems
TL;DR: A general framework for managing multiple tasks in highly redundant systems is proposed, which derives joint velocity and acceleration solutions which can be used as reference input trajectories to suitable model-based controllers.
Journal ArticleDOI
Kinematic control of redundant robot manipulators: A tutorial
TL;DR: A tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators lends some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian.
References
More filters
Journal ArticleDOI
On-Line Computational Scheme for Mechanical Manipulators
Journal ArticleDOI
Resolved Motion Rate Control of Manipulators and Human Prostheses
TL;DR: The kinematics of remote manipulators and human prostheses is analyzed and suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand.
Journal ArticleDOI
The singular value decomposition: Its computation and some applications
TL;DR: This work provides a tutorial introduction to certain numerical computations both in linear algebra and linear systems in the context of bounded arithmetic and the singular value decomposition (SVD).
Journal ArticleDOI
Resolved-acceleration control of mechanical manipulators
TL;DR: In this article, the authors present a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls, which deals directly with the position and orientation of the hand.