A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

• Autorzy: Ignacy Dulęba , Michał Opałka
• Języki publikacji: EN

Abstrakty

EN

The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg-Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.

Słowa kluczowe

EN

serial manipulator; inverse kinematics; Jacobian methods; comparison; applications

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2013
• Tom: 23
• Numer: 2
• Strony: 373-382

Daty

wydano

2013

otrzymano

2012-03-14

poprawiono

2012-09-05

Twórcy

autor

Ignacy Dulęba

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Michał Opałka

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

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Identyfikatory

DOI

10.2478/amcs-2013-0028