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new approach to the inverse kinematic analysis of redundant robots

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Date Issued:
1988
Summary:
A new approach has been developed for inverse kinematic analysis of redundant robots. In case of redundant robots inverse kinematics is complicated by the non-square nature of the Jacobian. In this method the Jacobian and inverse kinematic equation are reduced based on the rank of the Jacobian and the constraints specified. This process automatically locks some joints of the robot at various trajectory points. The reduced inverse kinematic equation is solved by an iterative procedure to find joint variable values for known task description. The results of computer simulation of the inverse kinematics applied on a redundant planar robot and a redundant moving base robot proved the method to be efficient, and the results can be found within a few iterations with excellent accuracy.
Title: A new approach to the inverse kinematic analysis of redundant robots.
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Name(s): Dutta, Partha Sarathi.
Florida Atlantic University, Degree grantor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1988
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 123 p.
Language(s): English
Summary: A new approach has been developed for inverse kinematic analysis of redundant robots. In case of redundant robots inverse kinematics is complicated by the non-square nature of the Jacobian. In this method the Jacobian and inverse kinematic equation are reduced based on the rank of the Jacobian and the constraints specified. This process automatically locks some joints of the robot at various trajectory points. The reduced inverse kinematic equation is solved by an iterative procedure to find joint variable values for known task description. The results of computer simulation of the inverse kinematics applied on a redundant planar robot and a redundant moving base robot proved the method to be efficient, and the results can be found within a few iterations with excellent accuracy.
Identifier: 14433 (digitool), FADT14433 (IID), fau:11233 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.E.)--Florida Atlantic University, 1988.
Subject(s): Parallel processing (Electronic computers)
Computer programs
coding theory
Supercomputers
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14433
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.