Analysis on Inverse Kinematics of Redundant Robots

2020 ◽  
pp. 943-950
Author(s):  
G. Bhavani ◽  
K. Harish Kumar ◽  
K. S. Raghuram ◽  
Hari Shankar Bendu
Keyword(s):  
Inverse Kinematics ◽  
Redundant Robots

Dynamics of redundant robots – inverse solutions

Robotica ◽  
1986 ◽  
Vol 4 (4) ◽  
pp. 263-267 ◽  
Author(s):  
Ronald L. Huston ◽  
Timothy P. King
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Solution Algorithm ◽  
Redundant Robot ◽  
Redundant Robots ◽  
Revolute Joints ◽  
Inverse Kinematics Problem ◽  
Inverse Solutions ◽  
Natural Dynamics ◽  
Least Energy

SUMMARYThe dynamics of “simple, redundant robots” are developed. A “redundant” robot is a robot whose degrees of freedom are greater than those needed to perform a given kinetmatic task. A “simple” robot is a robot with all joints being revolute joints with axes perpendicular or parallel to the arm segments. A general formulation, and a solution algorithm, for the “inverse kinematics problem” for such systems, is presented. The solution is obtained using orthogonal complement arrays which in turn are obtained from a “zero-eigenvalues” algorithm. The paper concludes with an assertion that this solution, called the “natural dynamics solution,” is optimal in that it requires the least energy to drive the robot.

scholarly journals A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Henrique Simas ◽  
Raffaele Di Gregorio
Keyword(s):  
Linear Combination ◽  
Inverse Kinematics ◽  
Quality Measure ◽  
Secondary Tasks ◽  
Redundant Robots ◽  
Potential Applications ◽  
Constant Coefficients ◽  
Basic Functions ◽  
Definition Of ◽  
Good Conditioning

The extended Jacobian is a technique for solving the redundancy of redundant robots. It is based on the definition of secondary tasks, through constraint functions that are added to the mapping between joint rates and end-effector's twist. Several approaches showed its potential, applications, and limitations. In general, the constraint functions are a linear combination of basic functions with constant coefficients. This paper proposes the use of adaptive coefficients in such functions by using the conditioning index of the extended Jacobian as a quality measure. A good conditioning index of the extended Jacobian keeps the robot far from singularities and contributes to the solution of the inverse kinematics. In this paper, initially, the extended Jacobian and the proposed algorithm are discussed, and then, two tests in different circumstances are presented in order to validate the proposal.

Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein's degrees-of-freedom problem

2005 ◽  
Vol 19 (4) ◽  
pp. 401-434 ◽  
Author(s):  
Suguru Arimoto ◽  
Masahiro Sekimoto ◽  
Hiroe Hashiguchi ◽  
Ryuta Ozawa
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Redundant Robots
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