A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators

• Autorzy: Duleba I. , Karcz-Duleba I. , Mielczarek A.

Identyfikatory

DOI

10.2478/amcs-2018-0037

• Języki publikacji: EN

Abstrakty

EN

A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.

Słowa kluczowe

EN

robot manipulator; repeatable inverse kinematics; initial configuration

PL

manipulator robotyczny; kinematyka odwrotna; konfiguracja początkowa

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2018
• Tom: Vol. 28, no. 3
• Strony: 483--492
• Opis fizyczny: Bibliogr. 18 poz., tab., wykr.

Twórcy

autor

Duleba I.

• Faculty of Electronics, Wrocław University of Science and Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Karcz-Duleba I.

• Faculty of Electronics, Wrocław University of Science and Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Mielczarek A.

• Faculty of Electronics, Wrocław University of Science and Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).