We introduce a method of selectively damped least squares (SDLS) for inverse kinematics, designed for multibodies with multiple end effectors. This method is compared with Jacobian transpose and damped least squares methods. SDLS has advantages in converging in fewer iterations, in not requiring ad hoc damping constants, and in converging quickly to reachable targets. Experiments show the impor...

Due to continuously increasing demands in the area of advanced robot control, it became necessary to speed up the computation. One way to reduce the computation time is to distribute the computation onto several processing units. In this survey we present different approaches to parallel computation of robot kinematics and Jacobian. Thereby, we discuss both the forward and the reverse problem. ...

Active cannulas, so named because of their potential medical applications, are a new class of continuum robots consisting of precurved, telescoping, elastic tubes. As individual component tubes are actuated at the base relative to one another, an active cannula changes shape to minimize stored elastic energy. For the first time, we derive the differential kinematics of a general n tube active c...

In this paper we present a model free hybrid visual servoing system. The “model free” term refers to the system with the unknown kinematics model that has to be estimated on-line, while “hybrid” specifies the visual controller architecture. The proposed system has a conventional Jacobian estimation part necessary for control output generation and it is supplemented with an additional adaptive n...

An approach to finding the solution equations for simple manipulators is described which enhances the well known method of Paul, Renaud, and Stevenson, by explicitly making use of known decouplings in the manipulator kinematics. This reduces the set of acceptable equations from which we obtain relationships for the joint variables. For analyzing the Jacobian, such decoupling is also useful sinc...

1.1 Visual servoing for robotics applications Numerous advances in robotics have been inspired by reliable concepts of biological systems. Necessity for improvements has been recognized due to lack of sensory capabilities in robotic systems which make them unable to cope with challenges such as anonymous and changing workspace, undefined location, calibration errors, and different alternating c...

This paper presents inverse kinematics using a novel adaptive Jacobian method, capable of altering the structure of a device’s Jacobian in response to a variety of dynamic constraints. These constraints are the result of a specific environment, but the adaptive Jacobian method can be applied to any task where the joints of a robot may become periodically inactive. This paper also summarizes the...

In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection. The three methods are described in some detail. An analysis is performed where the three methods ar...

This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using topological design method of mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed lower-mobility joints actuated prismatic joints, together with the investigations three kinematic issues importance. first aspect pertains to ge...

In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection. The three methods are described in some detail. An analysis is performed where the three methods ar...