Accession Number:

ADA167850

Title:

A Closed-Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy.

Descriptive Note:

Memorandum rept.,

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

Report Date:

1986-03-31

Pagination or Media Count:

27.0

Abstract:

A closed-form equation for inverse kinematics of robot manipulators with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state of the resolved motion method, and is shown to be a general expression that yields the extended Jacobian method. The repeatability problem in the resolved motion method does not exist in the proposed equation. The equation is demonstrated to give more accurate trajectories than the resolved motion method. Keywords Degree of freedom. Author

Subject Categories:

  • Numerical Mathematics
  • Machinery and Tools

Distribution Statement:

APPROVED FOR PUBLIC RELEASE