Title :
Real time inverse kinematics for general 6R manipulators
Author :
Manocha, Dinesh ; Canny, John F.
Author_Institution :
Div. of Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
The authors present a real-time algorithm for the inverse kinematics of general 6R robot manipulators. The algorithm involves symbolic preprocessing, matrix computation and a variety of numerical techniques. The numerical accuracy of these operations is well understood and for most cases it is possible to compute accurate solutions using 64-b IEEE floating point arithmetic available on most workstations. The average running time of the algorithm, for most cases, is 11 ms on an IBM RS/6000 workstation
Keywords :
eigenvalues and eigenfunctions; kinematics; manipulators; matrix algebra; symbol manipulation; 11 ms; 64-b IEEE floating point arithmetic; general 6R manipulators; inverse kinematics; matrix computation; numerical accuracy; numerical techniques; real-time algorithm; symbol manipulation; symbolic preprocessing; Computational geometry; Computer science; End effectors; Floating-point arithmetic; Kinematics; Manipulators; Polynomials; Robot control; Upper bound; Workstations;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220309
