RECURSIVE FORMULATION FOR THE INVERSE KINEMATICS OF REDUNDANT ROBOTS PERFORMING TASKS WITH PRIORITY ORDER

被引：0

作者：

GARZIERA, R

机构：

[1] Department of Industrial Engineering, Parma University, Parma

来源：

JOURNAL OF MECHANICAL DESIGN | 1994年 / 116卷 / 01期

关键词：

D O I：

10.1115/1.2919369

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A recursive arrangement is given for the inverse kinematic differential equations of redundant robots performing tasks with priority order. This formulation leads to simple and easy-to-handle equations, particularly suitable to be implemented in computer algorithms, for any number of sub-tasks. Moreover the recursive structure is extended to the solution at the acceleration level.

引用

页码：337 / 338

页数：2

共 50 条

[1] Microimmune Algorithm for Solving Inverse Kinematics of Redundant Robots
Glumac, Slaven
Kovacic, Zdenko
2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013), 2013, : 201 - 207
[2] INVERSE KINEMATICS OF REDUNDANT ROBOTS USING GENETIC ALGORITHMS
PARKER, JK
KHOOGAR, AR
GOLDBERG, DE
PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 271 - 276
[3] Dynamic planning of redundant robots within a set-based task-priority inverse kinematics framework
Di Vito, Daniele
Bergeron, Mathieux
Meger, David
Dudek, Gregory
Antonelli, Gianluca
2020 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA), 2020, : 549 - 554
[4] On Learning of Inverse Kinematics for Highly Redundant Robots with Neural Networks
Stephan, Benedict
Dontsov, Ilja
Mueller, Steffen
Gross, Horst-Michael
2023 21ST INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, ICAR, 2023, : 402 - 408
[5] An Inverse Kinematics Algorithm With Smooth Task Switching for Redundant Robots
Gamper, Hannes
Perez, Laura Rodrigo
Mueller, Andreas
Rosales, Alejandro Diaz
Di Castro, Mario
IEEE ROBOTICS AND AUTOMATION LETTERS, 2024, 9 (05) : 4527 - 4534
[6] A linear optimization approach to inverse kinematics of redundant robots with respect to manipulability
Lalo, W.
Brandt, T.
Schramm, D.
Hiller, M.
JOURNAL OF VIBROENGINEERING, 2008, 10 (03) : 400 - 404
[7] Obstacle avoidance inverse kinematics solution of redundant robots by neural networks
Intel Corp, Santa Clara, United States
Robotica, pt 1 (3-10):
[8] An Optimization Based Inverse Kinematics of Redundant Robots Avoiding Obstacles and Singularities
Chembuly, V. V. M. J. Satish
Voruganti, Hari Kumar
PROCEEDINGS OF THE ADVANCES IN ROBOTICS (AIR'17), 2017,
[9] A Geometric Solution for Inverse Kinematics of Redundant Teleoperated Surgical Snake Robots
Omisore, Olatunji Mumini
Han, Shipeng
Ren, Lingxue
Zhang, Nannan
Wang, Lei
2017 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2017, : 710 - 714
[10] A linear optimization approach to inverse kinematics of redundant robots with respect to manipulability
Lalo, Wildan
Brandt, Thorsten
Schramm, Dieter
Hiller, Manfred
25TH INTERNATIONAL SYMPOSIUM ON AUTOMATION AND ROBOTICS IN CONSTRUCTION - ISARC-2008, 2008, : 175 - 180

← 1 2 3 4 5 →