A closed-form solution for inverse kinematics of robot manipulators with redundancy
- 1 October 1987
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 3 (5) , 393-403
- https://doi.org/10.1109/jra.1987.1087114
Abstract
A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.Keywords
This publication has 7 references indexed in Scilit:
- Kinematic programming alternatives for redundant manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Avoiding obstacles and resolving kinematic redundancyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- On the Numerical Solution of the Inverse Kinematic ProblemThe International Journal of Robotics Research, 1985
- Review of pseudoinverse control for use with kinematically redundant manipulatorsIEEE Transactions on Systems, Man, and Cybernetics, 1983
- The Inverse Kinematic Problem for Anthropomorphic Manipulator ArmsJournal of Dynamic Systems, Measurement, and Control, 1982
- Manipulator control using the configuration space methodIndustrial Robot: the international journal of robotics research and application, 1978
- The Mathematics of Coordinated Control of Prosthetic Arms and ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1972