A Three-point Velocity Approach to Robot Motion Control

The inverse velocity problem is fundamental to robot position control. The weighted, three-point velocity approach offers a solution to the inverse velocity problem in robot manipulation. The theory applies to redundant robots, to robots with less than or equal six degrees-of-freedom, and to robots in singular configurations. The method always yields solutions, provided the three velocity node positions and weights are chosen appropriately. Choices for velocity node positions and weights are often straightforward consequences of the problem requirements. The threepoint velocity inversion technique is independent of scaling, choice of units and translation and orientation of the frame of reference.