Title | General inverse kinematics with the error damped pseudoinverse |
Publication Type | Conference Paper |
Year of Publication | 1988 |
Authors | Chan, S. K., and P. D. Lawrence |
Conference Name | Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on |
Pagination | 834 -839 vol.2 |
Date Published | apr. |
Keywords | Cartesian position, error damped pseudoinverse, inverse kinematics, joint corrections, kinematics, near singularities, position control, robotic manipulators, robots, singular points |
Abstract | Accurate and efficient inverse kinematics transformations are required to accurately specify the Cartesian position and orientation of robotic manipulators. A novel algorithm is proposed which is accurate near singular points and is also stable at singular points and for targets which are out of the manipulator's reach. The algorithm uses the error-damped pseudoinverse to obtain stable joint corrections near singularities. Various strategies are presented to describe and handle the particular situations which arise near singularities |
URL | http://dx.doi.org/10.1109/ROBOT.1988.12164 |
DOI | 10.1109/ROBOT.1988.12164 |