On the application of elastic band method to repeatable inverse kinematics in robot manipulators

• Autorzy: Duleba I. , Opalka M.
• Konferencja: National Conference on Robotics (12, 12-16.2012, Świeradów-Zdrój, Poland)
• Języki publikacji: EN

Abstrakty

EN

In this paper an idea of the elastic band method was exploited to design a repeatable inverse kinematics algorithm for robot manipulators. The method incorporates an optimization process at many stages of its performance and admits some extensions. Performance of the algorithm was illustrated on models of the three DOF planar pendulum and the PUMA robot. A comparison with a standard pseudo-inverse Jacobian algorithm, which does not preserve repeatability of inverse kinematics, is also provided.

Słowa kluczowe

EN

inverse kinematics; repeatability; algorithm

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 4
• Strony: 5--12
• Opis fizyczny: Bibliogr. 12 poz., rys.

Twórcy

autor

Duleba I.

• Institute of Computer Engineering, Control and Robotics Wroclaw University of Technology, 50–372 Wroclaw, Janiszewski St. 11/17

autor

Opalka M.

• Institute of Computer Engineering, Control and Robotics Wroclaw University of Technology, 50–372 Wroclaw, Janiszewski St. 11/17

Bibliografia

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