Inverse kinematic solution for a 7 DOF robot with minimal computational complexity and singularity avoidance
One of the problems in real-time control of redundant manipulators is considerably increased computational complexity compared with nonredundant robots. An attempt is made to reduce computational complexity by combining analytical and pseudoinverse solutions. In this way the dimensions of the Jacobi...
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| creator | Kircanski, M.V. Petrovic, T.M. |
| description | One of the problems in real-time control of redundant manipulators is considerably increased computational complexity compared with nonredundant robots. An attempt is made to reduce computational complexity by combining analytical and pseudoinverse solutions. In this way the dimensions of the Jacobian are considerably reduced, yielding several times less computational complexity. Further reduction of computational time is achieved by applying the gradient projection method to the actually redundant subrobot. A simple performance criterion for avoiding wrist singularity is proposed.< > |
| doi_str_mv | 10.1109/ROBOT.1991.132032 |
| format | Conference Proceeding |
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An attempt is made to reduce computational complexity by combining analytical and pseudoinverse solutions. In this way the dimensions of the Jacobian are considerably reduced, yielding several times less computational complexity. Further reduction of computational time is achieved by applying the gradient projection method to the actually redundant subrobot. A simple performance criterion for avoiding wrist singularity is proposed.< ></description><identifier>ISBN: 081862163X</identifier><identifier>ISBN: 9780818621635</identifier><identifier>DOI: 10.1109/ROBOT.1991.132032</identifier><language>eng</language><publisher>IEEE Comput. Soc. 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An attempt is made to reduce computational complexity by combining analytical and pseudoinverse solutions. In this way the dimensions of the Jacobian are considerably reduced, yielding several times less computational complexity. Further reduction of computational time is achieved by applying the gradient projection method to the actually redundant subrobot. A simple performance criterion for avoiding wrist singularity is proposed.< ></description><subject>Computational complexity</subject><subject>Jacobian matrices</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Optimal control</subject><subject>Orbital robotics</subject><subject>Parallel robots</subject><subject>Robot control</subject><subject>Service robots</subject><subject>Wrist</subject><isbn>081862163X</isbn><isbn>9780818621635</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1991</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkMFKAzEYhAMiqLUPoKe8QGv-JE02R622FgoLUsFbyW7-aHQ3KbtptW9vtZ3L8MEwDEPIDbAxADN3L-VDuRqDMTAGwZngZ-SKFVAoDkq8XZBh33-yg6SYSAWXpFnEHXY90q8QsbU51LRPzTaHFKlPHbVU08dyRrtUpUy_Q_6gbYihtQ2tU7vZZvsXPVGDPyHvqY2O9iG-bxvb_fMuBWdjjdfk3Numx-HJB-R19rSaPo-W5XwxvV-OAjCZR157iVJzUUllHUivJt7Uoqqd1NpwZx03BYKeWKUQHPOFrh1UHIWsGDOFGJDbY29AxPWmO8zt9uvjH-IXK3lYow</recordid><startdate>1991</startdate><enddate>1991</enddate><creator>Kircanski, M.V.</creator><creator>Petrovic, T.M.</creator><general>IEEE Comput. Soc. Press</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1991</creationdate><title>Inverse kinematic solution for a 7 DOF robot with minimal computational complexity and singularity avoidance</title><author>Kircanski, M.V. ; Petrovic, T.M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i104t-f7f4e4723b46ad14f65f9c3bcd47792dad298e175a66e1d0f87cd1b2e34b00983</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1991</creationdate><topic>Computational complexity</topic><topic>Jacobian matrices</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Optimal control</topic><topic>Orbital robotics</topic><topic>Parallel robots</topic><topic>Robot control</topic><topic>Service robots</topic><topic>Wrist</topic><toplevel>online_resources</toplevel><creatorcontrib>Kircanski, M.V.</creatorcontrib><creatorcontrib>Petrovic, T.M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kircanski, M.V.</au><au>Petrovic, T.M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Inverse kinematic solution for a 7 DOF robot with minimal computational complexity and singularity avoidance</atitle><btitle>Proceedings. 1991 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1991</date><risdate>1991</risdate><spage>2664</spage><epage>2669 vol.3</epage><pages>2664-2669 vol.3</pages><isbn>081862163X</isbn><isbn>9780818621635</isbn><abstract>One of the problems in real-time control of redundant manipulators is considerably increased computational complexity compared with nonredundant robots. An attempt is made to reduce computational complexity by combining analytical and pseudoinverse solutions. In this way the dimensions of the Jacobian are considerably reduced, yielding several times less computational complexity. Further reduction of computational time is achieved by applying the gradient projection method to the actually redundant subrobot. A simple performance criterion for avoiding wrist singularity is proposed.< ></abstract><pub>IEEE Comput. Soc. Press</pub><doi>10.1109/ROBOT.1991.132032</doi></addata></record> |
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| identifier | ISBN: 081862163X |
| ispartof | Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1991, p.2664-2669 vol.3 |
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| language | eng |
| recordid | cdi_ieee_primary_132032 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Computational complexity Jacobian matrices Kinematics Manipulators Optimal control Orbital robotics Parallel robots Robot control Service robots Wrist |
| title | Inverse kinematic solution for a 7 DOF robot with minimal computational complexity and singularity avoidance |
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