Parallel resolution of the inverse kinematics

Author

Regnier, S. ; Duhaut, D.

Author_Institution

Lab. de Robotique de Paris, Velizy, France

Volume

1

fYear

1994

fDate

2-5 Oct 1994

Firstpage

599

Abstract

Our essay is about the inverse kinematics. Our previous paper (1994) was devoted to a multi-agents method to solve this problem. To do so, we have not resorted to classical mathematical algorithms but to a method of distributed resolution. This method requires no previous symbolic computations and is directly applicable to all kinds of manipulators by simply changing the initial parameters. Yet, the main interest of multi-agents system lies in the possibility of paralleling computation. This first approach was about the conception of a multi-agents system; however, it could have been achieved by other implements. Therefore, a parallel resolution of the inverse kinematics has been devised. This paper deals with this new method to solve inverse kinematics

Keywords

cooperative systems; inverse problems; manipulator kinematics; distributed resolution; inverse kinematics; manipulators; parallel resolution; Artificial intelligence; Automatic control; Concurrent computing; Equations; Kinematics; Manipulators; Mathematical analysis; Multiagent systems; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-2129-4

Type

conf

DOI

10.1109/ICSMC.1994.399905

Filename

399905