Iterative Solutions to the Inverse Geometric Problem for Manipulators with no Closed Form Solution
نویسندگان
چکیده
منابع مشابه
Iterative Solutions to the Inverse Geometric Problem for Manipulators with no Closed Form Solution
A set of new iterative solutions to the inverse geometric problem is presented. The approach is general and does not depend on intersecting axes or calculation of the Jacobian. The solution can be applied to any manipulator and is well suited for manipulators for which convergence is poor for conventional Jacobian-based iterative algorithms. For kinematically redundant manipulators, weights can...
متن کاملClosed-Form Inverse Kinematics for Continuum Manipulators
This paper presents a novel, analytical approach to solving inverse kinematics for multi-section continuum robots, defined as robots composed of a continuously bendable backbone. The problem is decomposed into several simpler subproblems. First, this paper presents a solution to the inverse kinematics problem for a single-section trunk. Assuming endpoints for all sections of a multi-section tru...
متن کاملthe algorithm for solving the inverse numerical range problem
برد عددی ماتریس مربعی a را با w(a) نشان داده و به این صورت تعریف می کنیم w(a)={x8ax:x ?s1} ، که در آن s1 گوی واحد است. در سال 2009، راسل کاردن مساله برد عددی معکوس را به این صورت مطرح کرده است : برای نقطه z?w(a)، بردار x?s1 را به گونه ای می یابیم که z=x*ax، در این پایان نامه ، الگوریتمی برای حل مساله برد عددی معکوس ارانه می دهیم.
15 صفحه اولAn iterative method for the Hermitian-generalized Hamiltonian solutions to the inverse problem AX=B with a submatrix constraint
In this paper, an iterative method is proposed for solving the matrix inverse problem $AX=B$ for Hermitian-generalized Hamiltonian matrices with a submatrix constraint. By this iterative method, for any initial matrix $A_0$, a solution $A^*$ can be obtained in finite iteration steps in the absence of roundoff errors, and the solution with least norm can be obtained by choosing a special kind of...
متن کاملA Normal form Solution to the Singular Inverse Kinematic Problem for Robotic Manipulators: The Quadratic Case
We present a normal form approach to solving the singular inverse kinematic problem for non-redundant robot kinematics. A standing assumption is made that singular configurations of the kinematics have corank 1 and that the kinematics are equivalent to the quadratic normal form. The approach has been illustrated with a simulation case study of 2R kinematics. A comparison with the Singularity-Ro...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 2008
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.2008.3.1