Reconstruction of the inverse kinematic solution subject to joint kinematic limits using kinematic redundancy

JONGHOON PARK; WANKYUN CHUNG; YOUNGIL YOUM

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Reconstruction of the inverse kinematic solution subject to joint kinematic limits using kinematic redundancy

机译：使用运动学冗余度重建联合运动极限条件下的运动学逆解

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Various physical limitations which intrinsically exist in the manipulator inverse kinematic system, e. g. joint travel and velocity limits, induce inevitable motion errors. This paper is concerned with how to reconstruct such an inverse kinematic solution using redundancy, in order not to produce any task motion error. By analyzing the error due to hardware limitations with respect to the kinematically decoupled coordinates, we are able to show that the recoverability of limitation reduces to the solvability of a reconstruction equation under the feasibility condition.

机译：机械手逆运动系统固有存在的各种物理限制，例如： G。关节行进和速度限制会引起不可避免的运动误差。本文关注的是如何使用冗余构造这种运动学逆解，以免产生任何任务运动误差。通过分析相对于运动学解耦坐标的硬件限制所导致的误差，我们能够证明，在可行条件下，限制的可恢复性降低了重建方程的可解性。

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《Advanced Robotics》 |1997年第4期|p.377-395|共19页
作者
JONGHOON PARK; WANKYUN CHUNG; YOUNGIL YOUM;
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正文语种 eng
中图分类机器人技术;
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Reconstruction of the inverse kinematic solution subject to joint kinematic limits using kinematic redundancy

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