Singularity-robust inverse kinematics for serial manipulators

• Autorzy: Dulęba Ignacy

Identyfikatory

DOI

10.14313/JAMRIS/3‐2023/21

• Języki publikacji: EN

Abstrakty

EN

This paper is a practical guideline on how to analyze and evaluate the literature algorithms of singularity- robust inverse kinematics or to construct new ones. Additive, multiplicative, and based on the Singularity Value Decomposition (SVD) methods are examined to retrieve well-conditioning of a matrix to be inverted in the Newton algorithm of inverse kinematics. It is shown that singularity avoidance can be performed in two different, but equivalent, ways: either via properly modified manipulability matrix or not allowing the decrease of the minimal singular value below a given threshold. It is discussed which method can always be used and which can only be used when some pre‐conditions are met. Selected methods are compared to with respect to the efficiency of coping with singularities based on a theoretical analysis as well as simulation results. Also, some questions important for mathematically and/or practically oriented roboticians are stated and answered.

Słowa kluczowe

EN

serial manipulator; forward kinematics; jacobi matrix; inverse kinematics; singularities; robustness; evaluation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 3
• Strony: 38--45
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Dulęba Ignacy

• Department of Cybernetics and Robotics, Wroclaw University of Science and Technology, Janiszewski St. 11/17, 50‐372 Wroclaw, Poland, www.kcir.pwr.edu.pl/~iwd.

• https://orcid.org/0000-0002-2278-0816

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).