Solving the inverse kinematics problem symbolically by means of knowledge-based and linear algebra-based methods

The construction of kinematics models by hand is often a tedious and error-prone process. This paper presents an overview of the Organic Robot Control project. One main goal of the project is to automate the computation of closed-formed solutions for both the forward and inverse kinematics of genera...

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Bibliographic Details
Published in2007 IEEE Conference on Emerging Technologies and Factory Automation (EFTA 2007) pp. 1346 - 1353
Main Authors Wenz, M., Worn, H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2007
Subjects
Closed-form solution
Computational geometry
Computer industry
Construction industry
Equations
Kinematics
Manipulators
Polynomials
Robot control
Robot programming
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Summary:The construction of kinematics models by hand is often a tedious and error-prone process. This paper presents an overview of the Organic Robot Control project. One main goal of the project is to automate the computation of closed-formed solutions for both the forward and inverse kinematics of general industrial manipulators. For simple manipulator geometries, we use rule-based programming techniques to obtain a closed-form solution. For complicated geometries, we use elimination techniques based on the computation of Groebner basis. In so doing we convert a complicated coupled transcendental set of kinematics equations into a univariate polynomial. This polynomial can much easier be solved. The generated analytic models fulfill real time requirements and can be parallelized very well.
ISBN:9781424408252
1424408253
ISSN:1946-0740
1946-0759
DOI:10.1109/EFTA.2007.4416937