Alternative computational scheme of manipulator inverse kinematics
- 27 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (10504729) , 3235-3240
- https://doi.org/10.1109/robot.1998.680926
Abstract
The fundamental concept of the paper is to divide the inverse kinematics problem of a non-redundant robot manipulator into two sub-problems of different priorities, one associated with the position and one with the orientation of the end effector. We apply a standard weighted-pseudoinverse-based scheme which is normally utilised to resolve the inverse kinematics of a redundant manipulator. We show that the proposed approach is advantageous when the secondary task (orienting of the end effector) cannot entirely be executed.Keywords
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