Name
Title | ||
|---|---|---|
On inverting singular kinematics and geodesic trajectory generation for robot manipulators. |
Abstract | ||
|---|---|---|
In this paper, a new method is proposed of solving the inverse kinematic problem for robot manipulators whose kinematics are allowed to possess singularities. The method is based upon the so-called generalized Newton algorithm, introduced by S. Smale, and can be adopted to both nonredundant and redundant kinematics. Moreover, given a pair of points in the external space of a manipulator, the method is capable of generating a minimum-length trajectory joining the points (a geodesic), in particular a straight-line trajectory. Results of representative computer experiments, including those with the PUMA 560 kinematics, are reported in order to illustrate the performance of the method. |
Year | DOI | Venue |
|---|---|---|
1993 | 10.1007/BF01257948 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Inverse kinematic problem,singularities,trajectory generation,geodesic,transversality | Topology,Kinematics,Kinematics equations,Inverse kinematics,321 kinematic structure,Control theory,Robot kinematics,Gravitational singularity,Geodesic,Trajectory,Mathematics | Journal |
Volume | Issue | ISSN |
8 | 3 | 1573-0409 |
Citations | PageRank | References |
13 | 1.59 | 13 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Krzysztof Tchon | 1 | 52 | 13.93 |
| Ignacy Duleba | 2 | 115 | 19.40 |