Numerically Stable Inverse Kinematics Calculation of Robot Manipulators even in Singular Configuration

被引：0

作者：

Kishimoto, Tatsuya ^{[1
]}

Fujimoto, Yasutaka ^{[1
]}

机构：

[1] Yokohama Natl Univ, Dept Elect & Comp Engn, Yokohama, Kanagawa 240, Japan

来源：

IECON 2004: 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL 2 | 2004年

关键词：

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents new method of salving inverse kinematics problem for robot manipulators. It is impossible to solve inverse kinematics problem in singular configuration until today. In this proposal, we can get the most suitable angle by using Newton Method, minimizing the difference between target and present position. A numerical study of a three-dimensional three-link manipulator confirms the validity of the proposed method.

引用

页码：1036 / 1040

页数：5

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