A comparison of methods solving repeatable inverse kinematics for robot manipulators

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

Identyfikatory

DOI

10.24425/119074

• Języki publikacji: EN

Abstrakty

EN

In this paper two recent methods of solving a repeatable inverse kinematic task are compared. The methods differ substantially although both are rooted in optimization techniques. The first one is based on a paradigm of continuation methods while the second one takes advantage of consecutive approximations. The methods are compared based on a quality of provided results and other quantitative and qualitative factors. In order to get a statistically valuable comparison, some data are collected from simulations performed on pendula robots with different paths to follow, initial configurations and a degree of redundancy.

Słowa kluczowe

EN

manipulator; inverse kinematics; repeatability; optimization; algorithms

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2018
• Tom: Vol. 28, No. 1
• Strony: 5--18
• Opis fizyczny: Bibliogr. 13 poz., rys., tab., wzory

Twórcy

autor

Duleba I.

• Faculty of Electronics, Wroclaw University of Science and Technology, Janiszewski Str. 11/17, 50-372 Wroclaw, Poland

autor

Karcz-Duleba I.

• Faculty of Electronics, Wroclaw University of Science and Technology, Janiszewski Str. 11/17, 50-372 Wroclaw, Poland

Bibliografia

• [1] S. Chiaverini, G. Oriolo and I. D. Walker : Handbook of Robotics, chapter Kinematically redundant manipulators, 245–268, Springer Verlag, Berlin, 2008.
• [2] I. Duleba and M. Opałka : On application of elastic band method to repeatable inverse kinematics in robot manipulators, Journal of Automation, Mobile Robotics and Intelligent Systems, 7(4), (2013), 5–12.
• [3] I. Duleba and I. Karcz-Duleba : Suboptimal approximations in repeatable inverse kinematics for robot manipulators Bull. Pol. Ac.: Tech., 65(2), (2017), 209–217.
• [4] I. Duleba and I. Karcz-Duleba : A suboptimal solution of repeatable inverse kinematics in robot manipulators with a free entry configuration, Proc. of Mediterranean Conf. on Control and Automation, Athens, (2016), 563–568.
• [5] G. H. Golub and C. Reinsch : Singular value decomposition and least squares solutions, Numerische Mathematik, 14(5), (1970), 403–420.
• [6] J. Karpinska : Approximation of algorithms for robot motion planning, PhD. dissertation, Wroclaw University of Technology, (2012), in Polish.
• [7] S. Quinlan and O. Khatib : Elastic bands: Connecting path and control, Prof. IEEE Int. Conf. on Robotics and Automation, Vol. 2 (1993), 802–807.
• [8] C. A. Klein, C. Chu-Jeng and S. Ahmed : A new formulation of the extended Jacobian method and its use in mapping algorithmic singularities for kinematically redundant manipulators, IEEE Trans. on Robot. Autom., 11, (1995), 50–55.
• [9] Y. Nakamura : Advanced robotics: redundancy and optimization, Addison Wesley, New York, 1991.
• [10] J. E. Ratajczak, K. Tchon and M. Janiak : Approximation of Jacobian inverse kinematics algorithms: differential geometric vs. Variational approach, Journal of Intelligent and Robotic Systems, 68(3/4), (2012), 211–224.
• [11] S. Richter and R. Decarlo : Continuation methods: theory and applications, IEEE Trans. on Automatic Control, 28(6), (1983), 660–665.
• [12] R. Roberts and A. A. Maciejewski : Repeatable generalized inverse control strategies for kinematically redundant manipulators, IEEE Trans. on Automatic Control, 38, (1993), 689–699.
• [13] M. Sipser : Introduction to the Theory of Computations, 2nd ed., Thomson Course Technology, 2006.

Uwagi

PL

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