Efficient Implementation of Iterative Inverse Kinematics in Real Time Control Architecture
Efficient Implementation of Iterative Inverse Kinematics in Real Time Control Architecture
- Author(s): M. Indri ; I. Lazzero ; F. Romanelli
- DOI: 10.1049/cp.2013.0011
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- Author(s): M. Indri ; I. Lazzero ; F. Romanelli Source: IET Conference on Control and Automation 2013: Uniting Problems and Solutions, 2013 page ()
- Conference: IET Conference on Control and Automation 2013: Uniting Problems and Solutions
- DOI: 10.1049/cp.2013.0011
- ISBN: 978-1-84919-710-6
- Location: Birmingham, UK
- Conference date: 4-5 June 2013
- Format: PDF
The paper proposes a procedure for the iterative computation of a robot inverse kinematics that uses different algorithms in synergy, so to obtain a singularity-robust and rapidly convergent technique. The application of such a procedure allows the creation of a unified version of the executable code for large classes of industrial robots, with the possibility to introduce new kinematic chains or more complex structures without the need to entirely rewrite the code. The paper offers also some guidelines about the software implementation and optimization in the industrial environment, and it is completed by experimental results where the procedure is applied to real industrial robots. (6 pages)
Inspec keywords: industrial robots; robot kinematics; iterative methods
Subjects: Robotics; Robot and manipulator mechanics; Robotics; Numerical analysis; Interpolation and function approximation (numerical analysis)
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