Overview of damped least-squares methods for inverse kinematics of robot manipulators

1995 ◽  
Vol 14 (1) ◽  
pp. 43-68 ◽  
Author(s):  
Arati S. Deo ◽  
Ian D. Walker
Keyword(s):  
Least Squares ◽  
Inverse Kinematics ◽  
Robot Manipulators ◽  
Damped Least Squares

Improved Damped Least Squares Inverse Kinematics with Joint limits for 7-DOF “T-FLoW” Humanoid Robot Manipulator

2021 ◽  
Author(s):  
Muhammad Ramadhan Hadi Setyawan ◽  
Sanggar Dewanto ◽  
Bayu Sandi Marta ◽  
Dadet Pramadihanto
Keyword(s):  
Least Squares ◽  
Inverse Kinematics ◽  
Humanoid Robot ◽  
Robot Manipulator ◽  
Damped Least Squares ◽  
Joint Limits

Deep-learning damped least squares method for inverse kinematics of redundant robots

Measurement ◽  
2021 ◽  
Vol 171 ◽  
pp. 108821
Author(s):  
Xiaoqi Wang ◽  
Xing Liu ◽  
Lerui Chen ◽  
Heyu Hu
Keyword(s):  
Deep Learning ◽  
Least Squares ◽  
Inverse Kinematics ◽  
Least Squares Method ◽  
Redundant Robots ◽  
Damped Least Squares

Spatially Hyper-Redundant Robotic Inverse Kinematics by Discrete Link Characterization 

2014 ◽  
Vol 592-594 ◽  
pp. 2204-2209
Author(s):  
Anand Nagarajan ◽  
S. Joseph Winston ◽  
S. Venugopal
Keyword(s):  
Least Squares ◽  
Inverse Kinematics ◽  
Inverse Method ◽  
Jacobian Matrix ◽  
Least Squares Method ◽  
Kinematic Model ◽  
The Matrix ◽  
Damped Least Squares ◽  
Pseudo Inverse ◽  
Novel Design

In this paper, a novel design of a multi-sectioned, remotely-actuated, continuum type manipulator is presented. Spatially Hyper-Redundant Robot (SHRR) is based on a continuous backbone model which is divided into four sections. In the area of hyper redundant robotics, kinematic redundant systems result in non square Jacobian matrix which requires a pseudo inverse method to inverse the matrix. A methodology has been devised to solve the Inverse Kinematics (IK) problem of SHRR by predicting the curvature values of each of the section. Redundant IK techniques like Pseudo-Inverse Method (PIM), Jacobian Transpose Method (JTM), Damped Least Squares Method (DLS) and Selectively Damped Least Squares Method (SDLS) are tested on the formulated kinematic model of SHRR using MATLAB and a comparative study has been made.

Selectively Damped Least Squares for Inverse Kinematics

2005 ◽  
Vol 10 (3) ◽  
pp. 37-49 ◽  
Author(s):  
Samuel R. Buss ◽  
Jin-Su Kim
Keyword(s):  
Least Squares ◽  
Inverse Kinematics ◽  
Damped Least Squares
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