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A new approach to kinematic control of simple manipulators

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3 Author(s)
T. Isobe ; Dept. of Ind. Manage., Shibaura Inst. of Technol., Kawasaki ; K. Nagasaka ; S. Yamamoto

A new approach for solving inverse kinematics problems is presented. An iteration algorithm based on the global Newton's method finds staircase-like solutions of the joint variables that pass through temporary fixed points on a virtual straight line connecting the starting point to a target point of a manipulator. The intervals between fixed points are chosen so that convergence of the iteration is guaranteed by the contraction mapping theorem. The process is performed with the reduced computation of the Jacobian. It exhibits excellent robustness with regard to external disturbance. Problems of singularity of the Jacobian and multiple solutions of joint variables are considered

Published in:

IEEE Transactions on Systems, Man, and Cybernetics  (Volume:22 ,  Issue: 5 )