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A closed-loop inverse kinematic scheme for on-line joint-based robot control*

Published online by Cambridge University Press:  09 March 2009

Bruno Siciliano
Bruno Siciliano
Affiliation:
Dipartimento di Informatica e Sistemistica, Università degli Study “Federico II” di Napoli, Via Claudio 21, 80125 Napoli (Italy)
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Summary

A computationally fast inverse kinematic scheme is derived which solves robot's end-effector (EE) trajectories in terms of joint trajectories. The inverse kinematic problem (IKP) is cast as a control problem for a simple dynamic system. The resulting closed-loop algorithms are shown to guarantee satisfactory tracking performance. Differently from previous first-order schemes which only solve for joint positions and velocities, we propose here new second order tracking schemes which allow the on-line generation of joint position + velocity + acceleration (PVA) reference trajectories for any computed torque-like controller in sensor-based robot applications. The algorithms do explicitly solve the IKP for both EE position and orientation. Simulation results for a six-degree-of-freedom PUMA-like geometry demonstrate the effectiveness of the scheme, even near singularities.

Keywords

Kinematic schemeClosed-loop algorithmsOn-line controlRobots
Type
Article
Information
Robotica , Volume 8 , Issue 3 , July 1990 , pp. 231 - 243
Copyright
Copyright © Cambridge University Press 1990

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