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UBC Theses and Dissertations
Iterative inverse kinematics with manipulator configuration control and proof of convergence Grudić, Gregory Z.
Abstract
A complete solution to the inverse kinematics problem for a large class of practical manipulators, which includes manipulators with no closed form inverse kinematics equations, is presented in this thesis. A complete solution to the inverse kinematics problem of a manipulator is defined as a method for obtaining the required joint variable values to establish the desired endpoint position, endpoint orientation, and manipulator configuration; the only requirement being that the desired solution exists. For all manipulator geometries that satisfy a set of conditions (THEOREM I), an algorithm is presented that is theoretically guaranteed to always converge to the desired solution (if it exists). The algorithm is extensively tested on two complex 6 degree of freedom manipulators which have no known closed form inverse kinematics equations. It is shown that the algorithm can be used in real time manipulator control. Applications of the method to other 6 DOF manipulator geometries and to redundant manipulators are discussed.
Item Metadata
Title |
Iterative inverse kinematics with manipulator configuration control and proof of convergence
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1990
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Description |
A complete solution to the inverse kinematics problem for a large class of practical manipulators,
which includes manipulators with no closed form inverse kinematics equations, is presented in this
thesis. A complete solution to the inverse kinematics problem of a manipulator is defined as a method
for obtaining the required joint variable values to establish the desired endpoint position, endpoint
orientation, and manipulator configuration; the only requirement being that the desired solution
exists. For all manipulator geometries that satisfy a set of conditions (THEOREM I), an algorithm
is presented that is theoretically guaranteed to always converge to the desired solution (if it exists).
The algorithm is extensively tested on two complex 6 degree of freedom manipulators which have no
known closed form inverse kinematics equations. It is shown that the algorithm can be used in real
time manipulator control. Applications of the method to other 6 DOF manipulator geometries and to
redundant manipulators are discussed.
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Genre | |
Type | |
Language |
eng
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Date Available |
2012-04-16
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0103243
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.