Title :
A closed-form solution for inverse kinematics of robot manipulators with redundancy
Author_Institution :
Massachusetts Institute of Technology, Cambridge, MA, USA
fDate :
10/1/1987 12:00:00 AM
Abstract :
A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.
Keywords :
Mechanical factors; Robots; Artificial intelligence; Closed-form solution; End effectors; Jacobian matrices; Kinematics; Lagrangian functions; Manipulators; Orbital robotics; Redundancy; Robots;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1987.1087114
