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Optimal conditions for inverse kinematics of a robot manipulator with redundancy

Published online by Cambridge University Press:  09 March 2009

Dong Kwon Cho ,
Byoung Wook Choi  and
Myung Jin Chung
Dong Kwon Cho
Affiliation:
Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, 373–1 Kusong-dong, Yusong-gu, Taejon 305–701 (Korea)
Byoung Wook Choi
Affiliation:
Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, 373–1 Kusong-dong, Yusong-gu, Taejon 305–701 (Korea)
Myung Jin Chung
Affiliation:
Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, 373–1 Kusong-dong, Yusong-gu, Taejon 305–701 (Korea)
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Summary

The algorithms of inverse kinematics based on optimality constraints have some problems because those are based only on necessary conditions for optimality. One of the problems is a switching problem, i.e., an undesirable configuration change from a maximum value of a performance measure to a minimum value may occur and cause an inverse kinematic solution to be unstable. In this paper, we derive sufficient conditions for the optimal solution of the kinematic control of a redundant manipulator. In particular, we obtain the explicit forms of the switching condition for the optimality constraintsbased methods. We also show that the configuration at which switching occurs is equivalent to an algorithmic singularity in the extended Jacobian method. Through a numerical example of a cyclic task, we show the problems of the optimality constraints-based methods. To obtain good configurations without switching and kinematical singularities, we propose a simple algorithm of inverse kinematics.

Keywords

Redundant manipulatorInverse kinematicsRedundancy resolutionSingularity avoidanceAlgorithmic singularity
Type
Articles
Information
Robotica , Volume 13 , Issue 1 , January 1995 , pp. 95 - 101
Copyright
Copyright © Cambridge University Press 1995

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References

references

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