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Redundant inverse kinematics: experimental comparative review and two enhancements

Autor
Colomé, A.; Torras, C.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Any de l'edició
2012
Data de presentació
2012
Llibre d'actes
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pàgina inicial
5333
Pàgina final
5340
DOI
https://doi.org/10.1109/IROS.2012.6385672 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/18238 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/IROS.2012.6385672 Obrir en finestra nova
Resum
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...
Citació
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.
Paraules clau
manipulators robot kinematics
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants