Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator

Ahmed, SM and Pechev, AN (2009) Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator In: ROBIO 2009, 2009-12-19 - 2009-12-23, Guilin, China.

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Abstract

A control infrastructure for comparison of feedback inverse kinematics (FIK) with pseudo-inverse based methods is developed in this paper. The Kinematic model of Mitsubishi RV-1A, a six degree of freedom (DOF) robotic manipulator is constructed to map the Cartesian space trajectories into the joint space trajectories. The Denavit-Hartenberg (DH) parameters of this manipulator are calculated by using conventional DH parameterization approach. Cartesian space reference trajectories with and without singularity are designed for RV-1A to analyze the performance of FIK and compare it with damped least square (DLS) inverse kinematics. The performance of developed FIK and DLS models is evaluated based on stability and singularity robustness.

Item Type:	Conference or Workshop Item (UNSPECIFIED)
Authors :	Name Email ORCID Ahmed, SM UNSPECIFIED UNSPECIFIED Pechev, AN a.pechev@surrey.ac.uk UNSPECIFIED
Date :	2009
Identification Number :	https://doi.org/10.1109/ROBIO.2009.5420856
Contributors :	Contribution Name Email ORCID publisher IEEE, UNSPECIFIED UNSPECIFIED
Depositing User :	Symplectic Elements
Date Deposited :	17 May 2017 11:18
Last Modified :	17 May 2017 11:18
URI:	http://epubs.surrey.ac.uk/id/eprint/830812

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