Solving Inverse Kinematics – A New Approach to the Extended Jacobian Technique
نویسندگان
چکیده
منابع مشابه
Jacobian Inverse Kinematics Manipulators
We study Jacobian inverse kinematics algorithms for mobile manipulators composed of a nonholonomic mobile platform and a holonomic onboard manipulator. In general, the Jacobian algorithms converge locally, often producing weird end effector and platform trajectories. In the paper we use the existing theory of Newton algorithms in order to improve the quality of convergence of the Jacobian algor...
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An inverse kinematics algorithm for a robotic system is called repeatable, if it transforms closed paths in the task space into closed paths in the configuration space. In this paper we assume the endogenous configuration space approach and define a repeatable inverse kinematics algorithm for mobile manipulators, patterned on the extended Jacobian scheme. An examination of a dynamic system asso...
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The solution of the inverse kinematic problem is of the utmost importance in robotic manipulator control. This article proposes a closed-loop scheme for solving the inverse kinematic problem for nonredundant and redundant wrists based on the computation of the Jacobian transpose. The manipulability measure is suitably introduced as a constraint for redundant wrists, by taking advantage of the n...
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ژورنال
عنوان ژورنال: Acta Polytechnica
سال: 2005
ISSN: 1805-2363,1210-2709
DOI: 10.14311/680