Dulęba, Ignacy ; Karcz-Dulęba, Iwona ; Mielczarek, Arkadiusz
Contributor:Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Title: Subject and Keywords:manipulator ; repeatable inverse kinematics ; initial configuration ; optimization
Abstract:A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). ; Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.
Publisher:Zielona Góra: Uniwersytet Zielonogórski
Date: Resource Type: DOI: Pages: Source:AMCS, volume 28, number 3 (2018) ; click here to follow the link
Language: License CC BY 4.0: Rights: