Inverse kinematic solutions for redundant manipulators using compact formulation

Fan-Tien Cheng, Tsing Hua Chen, York Yih Sun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation [17,18] is derived by applying Gaussian elimination, then the general solutions are still formulated as one particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoinverse formulation can always be converted into a compact form. Also, it is proven that the implementation by the compact formulation is computationally more efficient. The inherent singularity problems of Inverse Kinematics is also considered in this paper. In order to obtain continuous and feasible joint-rate solutions even at or in the neighborhood of singular points and to improve the exactness in the achievable directions, the newly-developed Compact-Inverse method is introduced. The Compact-Inverse method still applies the compact formulation to constrain the manipulator to move into the achievable directions. It is believed that the compact formulation approach can resolve the inverse kinematic redundancy problem more efficiently and exactly than the traditional pseudoinverse formulation.

Original languageEnglish
Title of host publicationProc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91
PublisherPubl by IEEE
Pages153-158
Number of pages6
ISBN (Print)078030067X
Publication statusPublished - 1992 Dec 1
EventProceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91 - Osaka, Jpn
Duration: 1991 Nov 31991 Nov 5

Publication series

NameProc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91

Other

OtherProceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91
CityOsaka, Jpn
Period91-11-0391-11-05

Fingerprint

Redundant manipulators
Inverse kinematics
Manipulators
Redundancy

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Cheng, F-T., Chen, T. H., & Sun, Y. Y. (1992). Inverse kinematic solutions for redundant manipulators using compact formulation. In Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91 (pp. 153-158). (Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91). Publ by IEEE.
Cheng, Fan-Tien ; Chen, Tsing Hua ; Sun, York Yih. / Inverse kinematic solutions for redundant manipulators using compact formulation. Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91. Publ by IEEE, 1992. pp. 153-158 (Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91).
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Cheng, F-T, Chen, TH & Sun, YY 1992, Inverse kinematic solutions for redundant manipulators using compact formulation. in Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91. Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91, Publ by IEEE, pp. 153-158, Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91, Osaka, Jpn, 91-11-03.

Inverse kinematic solutions for redundant manipulators using compact formulation. / Cheng, Fan-Tien; Chen, Tsing Hua; Sun, York Yih.

Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91. Publ by IEEE, 1992. p. 153-158 (Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation [17,18] is derived by applying Gaussian elimination, then the general solutions are still formulated as one particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoinverse formulation can always be converted into a compact form. Also, it is proven that the implementation by the compact formulation is computationally more efficient. The inherent singularity problems of Inverse Kinematics is also considered in this paper. In order to obtain continuous and feasible joint-rate solutions even at or in the neighborhood of singular points and to improve the exactness in the achievable directions, the newly-developed Compact-Inverse method is introduced. The Compact-Inverse method still applies the compact formulation to constrain the manipulator to move into the achievable directions. It is believed that the compact formulation approach can resolve the inverse kinematic redundancy problem more efficiently and exactly than the traditional pseudoinverse formulation.

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Cheng F-T, Chen TH, Sun YY. Inverse kinematic solutions for redundant manipulators using compact formulation. In Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91. Publ by IEEE. 1992. p. 153-158. (Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91).