Title :
Efficient inverse kinematics for general 6R manipulators
Author :
Manocha, Dinesh ; Canny, John F.
Author_Institution :
Dept. of Comput. Sci., North Carolina Univ., Chapel Hill, NC, USA
fDate :
10/1/1994 12:00:00 AM
Abstract :
In this paper, we present an algorithm and implementation for efficient inverse kinematics for a general six-revolute (6R) manipulator. When stated mathematically, the problem reduces to solving a system of multivariate equations. We make use of the algebraic properties of the system and the symbolic formulation used for reducing the problem to solving a univariate polynomial. However, the polynomial is expressed as a matrix determinant and its roots are computed by reducing to an eigenvalue problem. The other roots of the multivariate system are obtained by computing eigenvectors and substitution. The algorithm involves symbolic preprocessing, matrix computations and a variety of other numerical techniques. The average running time of the algorithm, for most cases, is 11 milliseconds on an IBM RS/6000 workstation. This approach is applicable to inverse kinematics of all serial manipulators
Keywords :
control system analysis; eigenvalues and eigenfunctions; kinematics; matrix algebra; polynomials; symbol manipulation; eigenvalue; eigenvectors; inverse kinematics; matrix determinant; multivariate system; robots; six-revolute manipulator; symbolic formulation; symbolic preprocessing; univariate polynomial; Automatic control; Calibration; Closed-form solution; Computer science; Geometry; Kinematics; Manipulators; Matrices; Polynomials; Robotics and automation;
Journal_Title :
Robotics and Automation, IEEE Transactions on