- Title
- A phi-model solution for the inverse position problem of calibrated robots using virtual elementary motions
- Creator
- Sultan, Ibrahim; Wager, John
- Date
- 2001
- Type
- Text; Journal article
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/56829
- Identifier
- vital:856
- Identifier
- ISSN:1068-2767
- Abstract
- It is central to the control of manipulators to calculate the set/sets of joint-displacements which correspond to a given spatial pose (position and orientation) of the end-effector. This problem, which is referred to as the inverse position problem, represents one of the most difficult mathematical challenges in the field of robotics, particularly when performed for calibrated robots (or robots with general structures). In such cases, closed form solutions are too impractical to implement and iterative solutions suffer from numerical singularities. In the present work a procedure is introduced to obtain multiple inverse position solutions for serial robotic structures. For calibrated robots, the procedure involves a simple iterative technique designed to ensure fast convergence and eliminate the occurrence of singularity. However, inverse position solutions for spherical-wrist manipulators will be obtained in a straight-forward non-iterative fashion. A published kinematic notation, referred to as the phi -model, was used to develop the system equations.
- Publisher
- Taylor & Francis Ltd.
- Relation
- Inverse Problems in Engineering Vol. 9, no. 3 (2001), p. 261-285
- Rights
- Copyright Taylor & Francis
- Rights
- Open Access
- Rights
- This metadata is freely available under a CCO license
- Subject
- 0914 Resources Engineering and Extractive Metallurgy; Inverse position problem; Robotics
- Full Text
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