Title :
A combined optimization method for solving the inverse kinematics problems of mechanical manipulators
Author :
Wang, Li-Chun Tommy ; Chen, Chih Cheng
Author_Institution :
Dept. of Mech. Eng. & Technol., Nat. Taiwan Inst. of Technol., Taipei, Taiwan
fDate :
8/1/1991 12:00:00 AM
Abstract :
A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed. The method is based on a combination of two nonlinear programming techniques and the forward recursion formulas, with the joint limitations of the robot being handled implicitly as simple boundary constraints. This method is numerically stable since it converges to the correct answer with virtually any initial approximation, and it is not sensitive to the singular configuration of the manipulator. In addition, this method is computationally efficient and can be applied to serial manipulators having any number of degrees of freedom
Keywords :
kinematics; nonlinear programming; robots; combined optimization method; forward recursion; inverse kinematics problems; mechanical manipulators; nonlinear programming; serial manipulators; Charge coupled devices; Differential equations; Jacobian matrices; Manipulators; Nonlinear equations; Optimization methods; Orbital robotics; Robot kinematics; Robot sensing systems; Service robots;
Journal_Title :
Robotics and Automation, IEEE Transactions on
