Title :
Kinematic control of robot manipulators using filtered inverse
Author :
Vargas, Lucas V. ; Leite, Antonio C. ; Costa, Ramon R.
Author_Institution :
Dept. of Electr. Eng., UFRJ, Rio de Janeiro, Brazil
Abstract :
This paper presents a kinematic control scheme for robot manipulators based on an algorithm that dynamically estimates an inverse of the Jacobian matrix. An interesting property of this algorithm is its ability to deal with the problem of kinematic singularities. The output of the algorithm can be interpreted as the filtered inverse of the Jacobian matrix. A case study of a 3-DoF non-redundant manipulator is presented. Some simulation results illustrate the performance of the proposed methodology.
Keywords :
Jacobian matrices; manipulator kinematics; Jacobian matrix; filtered inverse; kinematic control scheme; kinematic singularities; robot manipulators; Heuristic algorithms; Jacobian matrices; Joints; Kinematics; Manipulators; Trajectory; Inverse kinematics; manipulators; robot kinematics; singularities;
Conference_Titel :
Control & Automation (MED), 2013 21st Mediterranean Conference on
Conference_Location :
Chania
Print_ISBN :
978-1-4799-0995-7
DOI :
10.1109/MED.2013.6608694