A new method to solve robot inverse kinematics using Assur virtual chains
| Autor: | Raul Guenther, Henrique Simas, Daniel Miranda Cruz, Daniel Martins |
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| Rok vydání: | 2009 |
| Předmět: |
Robot kinematics
Inverse kinematics General Mathematics Parallel manipulator Computer Science Applications Numerical integration Inverse dynamics Computer Science::Robotics Exponential stability Control and Systems Engineering Control theory Kinematics equations Software Numerical stability Mathematics |
| Zdroj: | Robotica. 27:1017-1026 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574709005426 |
| Popis: | SUMMARYThis paper describes a numerical algorithm to solve the inverse kinematics of parallel robots based on numerical integration. Inverse kinematics algorithms based on numerical integration involve the drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from that desired. The proposed algorithm associates a novel method to describe the differential kinematics with a simple numerical integration method. The methodology is presented in this paper and its exponential stability is proved. A numerical example and a real application are presented to outline its advantages. |
| Databáze: | OpenAIRE |
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