Manipulator inverse kinematics based on joint functions

TitleManipulator inverse kinematics based on joint functions
Publication TypeConference Paper
Year of Publication1988
AuthorsPoon, J. K., and P. D. Lawrence
Conference NameRobotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Pagination669 -674 vol.2
Date Publishedapr.
Keywordscontrol system analysis, convergence rate, functional joint control, heuristics, industrial robots, inverse kinematics, iterative inverse transform, iterative methods, kinematics, manipulators

A novel iterative inverse transform solution for robotic manipulators, termed functional joint control (FJC), is proposed. It is applicable to an important class of robots that includes many industrial robots. FJC is numerically well-behaved around singularities. The rate of convergence of FJC is comparable to other iterative solutions. The algorithm can be decomposed naturally for a multiprocessor implementation, with up to one processor for each joint of the manipulator. Building on the basic FJC algorithm, higher-level heuristics are used to handle joint limits and some redundant manipulators


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