Title :
Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator
Author :
Ahmed, Sajid M. ; Pechev, Alexander N.
Author_Institution :
Univ. of Surrey, Guildford, UK
Abstract :
A control infrastructure for comparison of feedback inverse kinematics (FIK) with pseudo-inverse based methods is developed in this paper. The Kinematic model of Mitsubishi RV-1A, a six degree of freedom (DOF) robotic manipulator is constructed to map the Cartesian space trajectories into the joint space trajectories. The Denavit-Hartenberg (DH) parameters of this manipulator are calculated by using conventional DH parameterization approach. Cartesian space reference trajectories with and without singularity are designed for RV-1A to analyze the performance of FIK and compare it with damped least square (DLS) inverse kinematics. The performance of developed FIK and DLS models is evaluated based on stability and singularity robustness.
Keywords :
least squares approximations; manipulator kinematics; stability; Cartesian space reference trajectories; Denavit-Hartenberg parameters; Mitsubishi RV-1A; damped least square inverse kinematics; degree of freedom manipulator; feedback inverse kinematics; joint space trajectories; pseudo-inverse based methods; singularity robustness; stability; Feedback; Jacobian matrices; Kinematics; Least squares methods; Manipulators; Orbital robotics; Performance analysis; Robots; Robust stability; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420856
