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An iterative general inverse kinematics solution with variable damping Chan, Stephen K. C.
Abstract
Currently, there is much interest in the field of robotics in researching methods of obtaining inverse kinematics solutions for arbitrary manipulators. Simple closed-form inverse kinematics equations can be obtained for a few joint configurations using geometric methods. However, there exist many manipulators which were not originally designed for kinematic control which do not have simple closed-form inverse kinematics equations. An efficient and stable iterative method is investigated in this thesis which solves the general inverse kinematics problem without detailed analysis of the manipulator's structure. The proposed iterative inverse kinematics algorithm combines a calibration procedure to estimate the manipulator's Denavit-Hartenberg parameters with an iterative method using the Jacobian and damped joint corrections. The kinematics control algorithm parameters are selected with a computer graphics simulation of the manipulator. The proposed inverse kinematics algorithm is tested with a simulation of an industrial manipulator arm which does not have a closed-form solution, RSI Robotic Systems International's Kodiak arm, and exhibits stability in all regions of operation and fast convergence over most regions of operation.
Item Metadata
Title |
An iterative general inverse kinematics solution with variable damping
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1987
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Description |
Currently, there is much interest in the field of robotics in researching methods of obtaining inverse kinematics solutions for arbitrary manipulators. Simple closed-form inverse kinematics equations can be obtained for a few joint configurations using geometric methods. However, there exist many manipulators which were not originally designed for kinematic control which do not have simple closed-form inverse kinematics equations. An efficient and stable iterative method is investigated in this thesis which solves the general inverse kinematics problem without detailed analysis of the manipulator's structure. The proposed iterative inverse kinematics algorithm combines a calibration procedure to estimate the manipulator's Denavit-Hartenberg parameters with an iterative method using the Jacobian and damped joint corrections. The kinematics control algorithm parameters are selected with a computer graphics simulation of the manipulator. The proposed inverse kinematics algorithm is tested with a simulation of an industrial manipulator arm which does not have a closed-form solution, RSI Robotic Systems International's Kodiak arm, and exhibits stability in all regions of operation and fast convergence over most regions of operation.
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Genre | |
Type | |
Language |
eng
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Date Available |
2010-07-20
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0065545
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.