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Browse Journals & Magazines > Robotics and Automation, IEEE ...> Volume:7 Issue:4 Help

A combined optimization method for solving the inverse kinematics problems of mechanical manipulators

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2 Author(s)
Wang, L.-C.T. ; Dept. of Mech. Eng. & Technol., Nat. Taiwan Inst. of Technol., Taipei, Taiwan ; Chen, C.C.

A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed. The method is based on a combination of two nonlinear programming techniques and the forward recursion formulas, with the joint limitations of the robot being handled implicitly as simple boundary constraints. This method is numerically stable since it converges to the correct answer with virtually any initial approximation, and it is not sensitive to the singular configuration of the manipulator. In addition, this method is computationally efficient and can be applied to serial manipulators having any number of degrees of freedom

Published in:
Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 4 )

Date of Publication: Aug 1991

Page(s):
489 - 499
ISSN :
1042-296X
INSPEC Accession Number:
4007704
Digital Object Identifier :
10.1109/70.86079
Product Type:
Journals & Magazines
Date of Current Version :
06 August 2002
Issue Date :
Aug 1991
Sponsored by :
IEEE Robotics and Automation Society

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