Korbicz, Józef - red. ; Uciński, Dariusz - red.
The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). ; Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg-Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 23, number 2 (2013) ; click here to follow the link
Biblioteka Uniwersytetu Zielonogórskiego
Apr 11, 2024
Apr 11, 2024
23
https://zbc.uz.zgora.pl/publication/88627
Edition name | Date |
---|---|
A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators | Apr 11, 2024 |
Delyová, Ingrid Hroncová, Darina Frankovský, Peter Sivák, Peter Kostka, Ján Neumann, Vojtech Jurczak, Paweł - red.
Tchoń, Krzysztof Karpińska, Joanna Janiak, Mariusz Zieliński, Cezary - ed.
Dulęba, Ignacy Korbicz, Józef - red. Uciński, Dariusz - red.
Dulęba, Ignacy Korbicz, Józef - red. Uciński, Dariusz - red.
Dulęba, Ignacy Jagodziński, Jacek Korbicz, Józef - red. Uciński, Dariusz - red.
Smereka, Marcin Dulęba, Ignacy Kummert, Anton - ed. Rafajłowicz, Ewaryst - ed.
Verdiere, Nathalie Denis-Vidal, Lilianne Joly-Blanchard, Ghislaine Domurado, Dominique Beliczyński, Bartłomiej - red.
Olive, Xavier Korbicz, Józef - red. Uciński, Dariusz - red.