A Fast Method of Inverse Kinematics of Redundant Manipulators.

概要

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One method for solving inverse kinematics for redundant manipulators is proposed. A weighted generalized inverse (WGI) is introduced and solved by a recursive algorithm derived in this paper, which enables us to systematically determine the values of weights for preventing singular posture that the manipulator might encounter.This method is faster than the conventionally used method based on the algorithm of Gauss-Jordan elimination in case of the manipulator having comparatively small number of redundant D. O. F. s. Joint variables are recursively updated at every time when new column of Jacobian is obtained. It implies that we can proceed the calculation parallel to input procedures of each joint variable. The fact that the projection operator is also recurrently obtained with the least burden of computation is another property of the proposed method.One computer simulation of seven D. O. F. s anthropomorphic-type manipulator is examined to compare the computational speed and resultant joint variables between the proposed method and the conventional method.
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