By Topic

A new approach to kinematic control of simple manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

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:

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