A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy
A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved motion method. And is shown to be a general expression that yields the extend...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6425 |
| _version_ | 1826199701620260864 |
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| author | Chang, Pyung H. |
| author_facet | Chang, Pyung H. |
| author_sort | Chang, Pyung H. |
| collection | MIT |
| description | A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved motion method. And is shown to be a general expression that yields the extended Jacobian method. The repeatability problem n the resolved motion method does not exist in the proposed equation. The equation is demonstrated to give more accurate trajectories than the resolved motion method. |
| first_indexed | 2024-09-23T11:24:13Z |
| id | mit-1721.1/6425 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:24:13Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/64252019-04-12T08:30:41Z A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy Chang, Pyung H. A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved motion method. And is shown to be a general expression that yields the extended Jacobian method. The repeatability problem n the resolved motion method does not exist in the proposed equation. The equation is demonstrated to give more accurate trajectories than the resolved motion method. 2004-10-04T14:55:56Z 2004-10-04T14:55:56Z 1986-03-01 AIM-854 http://hdl.handle.net/1721.1/6425 en_US AIM-854 2808405 bytes 2187317 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Chang, Pyung H. A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy |
| title | A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy |
| title_full | A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy |
| title_fullStr | A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy |
| title_full_unstemmed | A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy |
| title_short | A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy |
| title_sort | closed form solution for inverse kinematics of robot manipulator with redundancy |
| url | http://hdl.handle.net/1721.1/6425 |
| work_keys_str_mv | AT changpyungh aclosedformsolutionforinversekinematicsofrobotmanipulatorwithredundancy AT changpyungh closedformsolutionforinversekinematicsofrobotmanipulatorwithredundancy |