A Closed-Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy.

Abstract

A closed-form equation for inverse kinematics of robot manipulators with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state of the resolved motion method, and is shown to be a general expression that yields the extended Jacobian method. The repeatability problem in the resolved motion method does not exist in the proposed equation. The equation is demonstrated to give more accurate trajectories than the resolved motion method. Keywords: Degree of freedom. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Mar 31, 1986
Accession Number
ADA167850

Entities

People

  • Pyung H. Chang

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Artificial Intelligence
  • Collision Avoidance
  • Displacement
  • Equations
  • Information Systems
  • Kinematics
  • Lagrangian Functions
  • Manipulators
  • Military Research
  • Redundancy
  • Runge Kutta Method
  • Schematic Diagrams
  • Simulations
  • Time Intervals
  • Trajectories
  • Two Dimensional

Readers

  • Approximation Theory.
  • Computational Fluid Dynamics (CFD)
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy