Cost function-free optimization in inverse kinematics of open kinematic chains

J. Tar, László Nádai, Imre Felde, I. Rudas

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

6 Citations (Scopus)

Abstract

The traditional ways of solving various tasks “optimally” in control technology and robotics normally are based on the minimization of some cost function (or functional). On the basis of function minimization various “generalized inverse matrices” can be introduced that have special significance in the inverse kinematic tasks of redundant manipulators, where the possible solutions are ambiguous—therefore various choices are available. The solution suggested here tackles the question of optimality by the geometric interpretation of the simple and computationally efficient Gram-Schmidt algorithm. The method is presented via simulations using a redundant arm structure.

Original languageEnglish
Title of host publicationAdvances in Robot Design and Intelligent Control - Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD
PublisherSpringer Verlag
Pages137-145
Number of pages9
Volume371
ISBN (Print)9783319212890
DOIs
Publication statusPublished - 2016
Event24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015 - Bucharest
Duration: May 27 2015May 29 2015

Publication series

NameAdvances in Intelligent Systems and Computing
Volume371
ISSN (Print)21945357

Other

Other24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015
CityBucharest
Period5/27/155/29/15

Fingerprint

Inverse kinematics
Cost functions
Kinematics
Redundant manipulators
Robotics

Keywords

  • Generalized inverse
  • Gram-Schmidt algorithm
  • Inverse kinematic task
  • Open kinematic chain
  • Redundant robot arms

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Tar, J., Nádai, L., Felde, I., & Rudas, I. (2016). Cost function-free optimization in inverse kinematics of open kinematic chains. In Advances in Robot Design and Intelligent Control - Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD (Vol. 371, pp. 137-145). (Advances in Intelligent Systems and Computing; Vol. 371). Springer Verlag. https://doi.org/10.1007/978-3-319-21290-6_14

Cost function-free optimization in inverse kinematics of open kinematic chains. / Tar, J.; Nádai, László; Felde, Imre; Rudas, I.

Advances in Robot Design and Intelligent Control - Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD. Vol. 371 Springer Verlag, 2016. p. 137-145 (Advances in Intelligent Systems and Computing; Vol. 371).

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

Tar, J, Nádai, L, Felde, I & Rudas, I 2016, Cost function-free optimization in inverse kinematics of open kinematic chains. in Advances in Robot Design and Intelligent Control - Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD. vol. 371, Advances in Intelligent Systems and Computing, vol. 371, Springer Verlag, pp. 137-145, 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015, Bucharest, 5/27/15. https://doi.org/10.1007/978-3-319-21290-6_14
Tar J, Nádai L, Felde I, Rudas I. Cost function-free optimization in inverse kinematics of open kinematic chains. In Advances in Robot Design and Intelligent Control - Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD. Vol. 371. Springer Verlag. 2016. p. 137-145. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-319-21290-6_14
Tar, J. ; Nádai, László ; Felde, Imre ; Rudas, I. / Cost function-free optimization in inverse kinematics of open kinematic chains. Advances in Robot Design and Intelligent Control - Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD. Vol. 371 Springer Verlag, 2016. pp. 137-145 (Advances in Intelligent Systems and Computing).
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