Loading...
Loading...

Go to the content (press return)

Redundant inverse kinematics: experimental comparative review and two enhancements

Author
Colomé, A.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
First page
5333
Last page
5340
DOI
https://doi.org/10.1109/IROS.2012.6385672 Open in new window
Repository
http://hdl.handle.net/2117/18238 Open in new window
URL
http://dx.doi.org/10.1109/IROS.2012.6385672 Open in new window
Abstract
Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used closed-loop methods for redundant robots, analysing their main points of concern: convergence, numerical error, singularity handling, joint limit avoidance, and the capability of reaching secondary goals. As a result of the experimental comparison, we propose two enhancements. The first is to filter the singular values of the Jacobian matrix before calculating its ps...
Citation
Colomé, A.; Torras, C. Redundant inverse kinematics: experimental comparative review and two enhancements. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems". Vilamoura: 2012, p. 5333-5340.
Keywords
manipulators robot kinematics
Group of research
ROBiri - IRI Robotics Group

Participants