Real time inverse kinematics for general 6R manipulators
نویسندگان
چکیده
The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipulators The main interest has been in inverse kinematics of a six revolute jointed manipulator with arbitrary geometry It has been recently shown that the joints of a general R manipulator can orient themselves in di erent con gurations at most for a given pose of the end e ector However there are no good practical solutions available which give a level of performance expected of industrial manipulators In this paper we present an algorithm and implementation for real time inverse kinematics for a general R manipulator When stated mathematically the problem reduces to solving a system of multivariate equations We make use of the algebraic properties of the system and the techniques used for reducing the problem to solving a univariate polynomial However the polynomial is expressed as a matrix determinant and its roots are computed by reducing to an eigenvalue problem The other roots of the multivariate system are obtained by computing eigenvectors and substitution The algorithm involves symbolic preprocessing matrix computations and a variety of other numerical techniques The numerical accuracy of these operations is well understood and for most cases we are able to compute accurate solutions using double precision arithmetic The average running time of the algorithm for most cases is milliseconds on an IBM RS workstation This approach is applicable to inverse kinematics of all serial manipulators Supported by IBM Graduate Fellowship David and Lucile Packard Fellowship and National Science Foundation Presidential Young Investigator Award IRI Supported in part by David and Lucile Packard Fellowship and National Science Foundation Presidential Young Investigator Award IRI
منابع مشابه
Efficient inverse kinematics for general 6R manipulators
| The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipula-tors. The main interest has been in inverse kinematics of a six revolute (6R) jointed manipulator with arbitrary geometry. It has been recently shown that the joints of a general 6R manipulator can orient themselves in 16 diierent con-gurations (at most), for a given pose of the end{e...
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