- Tytuł:
- A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators
- Autorzy:
-
Duleba, I.
Karcz-Duleba, I.
Mielczarek, A. - Powiązania:
- https://bibliotekanauki.pl/articles/329751.pdf
- Data publikacji:
- 2018
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
robot manipulator
repeatable inverse kinematics
initial configuration
manipulator robotyczny
kinematyka odwrotna
konfiguracja początkowa - Opis:
- A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2018, 28, 3; 483-492
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł