Comparative analysis of quasi-differential approaches in inverse kinematics

Bertalan Csanádi, János F. Bitó, I. Rudas, J. Tar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In general, i.e. when the kinematic construction of a redundant robot arm does not meet special requirements, the inverse kinematic task has only differential solutions that do not exist in the kinematically singular points and suffer from large angular velocity components in the vicinity of the singularities. Recently it has been pointed out that these problems are caused by the use of some generalized matrix inverses, and they can be evaded by the application of a quasi-differential approach that transforms the task into a Fixed Point Problem and solves it with a convergent iteration without the use of any matrix inversion. In this paper it is shown that further possibilities are available in the quasi-differential approach that differ from each other in the use of the elements of the Null Space of the Jacobian. It is concluded that for maintaining the continuity of the solutions the use of the elements of this null space are practically important. This conclusion is illustrated via simulations for an irregularly extended PUMA-type robot arm, that is an 8 Degree of Freedom system.

Original languageEnglish
Title of host publicationAdvances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
PublisherSpringer Netherlands
Pages3-10
Number of pages8
ISBN (Print)9783319612751
DOIs
Publication statusPublished - Jan 1 2018
Event26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 - Turin, Italy
Duration: Jun 21 2017Jun 23 2017

Publication series

NameMechanisms and Machine Science
Volume49
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
CountryItaly
CityTurin
Period6/21/176/23/17

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • Cite this

    Csanádi, B., Bitó, J. F., Rudas, I., & Tar, J. (2018). Comparative analysis of quasi-differential approaches in inverse kinematics. In Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 (pp. 3-10). (Mechanisms and Machine Science; Vol. 49). Springer Netherlands. https://doi.org/10.1007/978-3-319-61276-8_1