Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator

Publisher Website
Google Scholar
Abstract
The goal of this paper is to present experimental results on the implementation of the damped least-squares method for the six-joint ABB IRb2000 industrial robot manipulator. A number of inverse kinematics schemes are reviewed which allow robot control through kinematic singularities. The basic schemes adopts a damped least-squares inverse of the manipulator Jacobian with a varying damping factor acting in the neighbor-hood of singularities. The effect of a weighted damped least-squares solution is investigated to provide user-defined accuracy capabilities along prescribed end-effector space directions. An on-line estimation algorithm is employed to measure closeness to singular configurations. A feedback correction error term is introduced to ensure algorithm tracking convergence and its effect on the joint velocity solution is discussed