Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators
Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, result...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Jesus, Raphael C. O. [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2022 |
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| Schlagwörter: |
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| Anmerkung: |
© Brazilian Society for Automatics--SBA 2021 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of control, automation and electrical systems - Boston, Mass. : Springer, 2013, 33(2022), 3 vom: 03. Jan., Seite 1022-1031 |
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| Übergeordnetes Werk: |
volume:33 ; year:2022 ; number:3 ; day:03 ; month:01 ; pages:1022-1031 |
| Links: |
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| DOI / URN: |
10.1007/s40313-021-00860-4 |
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| Katalog-ID: |
SPR046974458 |
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| 100 | 1 | |a Jesus, Raphael C. O. |e verfasserin |0 (orcid)0000-0001-6631-4000 |4 aut | |
| 245 | 1 | 0 | |a Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators |
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| 520 | |a Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. | ||
| 650 | 4 | |a Manipulators |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Robot kinematics |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Manipulator dynamics. |7 (dpeaa)DE-He213 | |
| 700 | 1 | |a Molina, Lucas |4 aut | |
| 700 | 1 | |a Carvalho, Elyson A. N. |4 aut | |
| 700 | 1 | |a Freire, Eduardo O. |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t Journal of control, automation and electrical systems |d Boston, Mass. : Springer, 2013 |g 33(2022), 3 vom: 03. Jan., Seite 1022-1031 |w (DE-627)763904961 |w (DE-600)2729053-0 |x 2195-3899 |7 nnns |
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10.1007/s40313-021-00860-4 doi (DE-627)SPR046974458 (SPR)s40313-021-00860-4-e DE-627 ger DE-627 rakwb eng Jesus, Raphael C. O. verfasserin (orcid)0000-0001-6631-4000 aut Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Brazilian Society for Automatics--SBA 2021 Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. Manipulators (dpeaa)DE-He213 Robot kinematics (dpeaa)DE-He213 Manipulator dynamics. (dpeaa)DE-He213 Molina, Lucas aut Carvalho, Elyson A. N. aut Freire, Eduardo O. aut Enthalten in Journal of control, automation and electrical systems Boston, Mass. : Springer, 2013 33(2022), 3 vom: 03. Jan., Seite 1022-1031 (DE-627)763904961 (DE-600)2729053-0 2195-3899 nnns volume:33 year:2022 number:3 day:03 month:01 pages:1022-1031 https://dx.doi.org/10.1007/s40313-021-00860-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 33 2022 3 03 01 1022-1031 |
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10.1007/s40313-021-00860-4 doi (DE-627)SPR046974458 (SPR)s40313-021-00860-4-e DE-627 ger DE-627 rakwb eng Jesus, Raphael C. O. verfasserin (orcid)0000-0001-6631-4000 aut Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Brazilian Society for Automatics--SBA 2021 Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. Manipulators (dpeaa)DE-He213 Robot kinematics (dpeaa)DE-He213 Manipulator dynamics. (dpeaa)DE-He213 Molina, Lucas aut Carvalho, Elyson A. N. aut Freire, Eduardo O. aut Enthalten in Journal of control, automation and electrical systems Boston, Mass. : Springer, 2013 33(2022), 3 vom: 03. Jan., Seite 1022-1031 (DE-627)763904961 (DE-600)2729053-0 2195-3899 nnns volume:33 year:2022 number:3 day:03 month:01 pages:1022-1031 https://dx.doi.org/10.1007/s40313-021-00860-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 33 2022 3 03 01 1022-1031 |
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10.1007/s40313-021-00860-4 doi (DE-627)SPR046974458 (SPR)s40313-021-00860-4-e DE-627 ger DE-627 rakwb eng Jesus, Raphael C. O. verfasserin (orcid)0000-0001-6631-4000 aut Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Brazilian Society for Automatics--SBA 2021 Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. Manipulators (dpeaa)DE-He213 Robot kinematics (dpeaa)DE-He213 Manipulator dynamics. (dpeaa)DE-He213 Molina, Lucas aut Carvalho, Elyson A. N. aut Freire, Eduardo O. aut Enthalten in Journal of control, automation and electrical systems Boston, Mass. : Springer, 2013 33(2022), 3 vom: 03. Jan., Seite 1022-1031 (DE-627)763904961 (DE-600)2729053-0 2195-3899 nnns volume:33 year:2022 number:3 day:03 month:01 pages:1022-1031 https://dx.doi.org/10.1007/s40313-021-00860-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 33 2022 3 03 01 1022-1031 |
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10.1007/s40313-021-00860-4 doi (DE-627)SPR046974458 (SPR)s40313-021-00860-4-e DE-627 ger DE-627 rakwb eng Jesus, Raphael C. O. verfasserin (orcid)0000-0001-6631-4000 aut Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Brazilian Society for Automatics--SBA 2021 Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. Manipulators (dpeaa)DE-He213 Robot kinematics (dpeaa)DE-He213 Manipulator dynamics. (dpeaa)DE-He213 Molina, Lucas aut Carvalho, Elyson A. N. aut Freire, Eduardo O. aut Enthalten in Journal of control, automation and electrical systems Boston, Mass. : Springer, 2013 33(2022), 3 vom: 03. Jan., Seite 1022-1031 (DE-627)763904961 (DE-600)2729053-0 2195-3899 nnns volume:33 year:2022 number:3 day:03 month:01 pages:1022-1031 https://dx.doi.org/10.1007/s40313-021-00860-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 33 2022 3 03 01 1022-1031 |
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10.1007/s40313-021-00860-4 doi (DE-627)SPR046974458 (SPR)s40313-021-00860-4-e DE-627 ger DE-627 rakwb eng Jesus, Raphael C. O. verfasserin (orcid)0000-0001-6631-4000 aut Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Brazilian Society for Automatics--SBA 2021 Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. Manipulators (dpeaa)DE-He213 Robot kinematics (dpeaa)DE-He213 Manipulator dynamics. (dpeaa)DE-He213 Molina, Lucas aut Carvalho, Elyson A. N. aut Freire, Eduardo O. aut Enthalten in Journal of control, automation and electrical systems Boston, Mass. : Springer, 2013 33(2022), 3 vom: 03. Jan., Seite 1022-1031 (DE-627)763904961 (DE-600)2729053-0 2195-3899 nnns volume:33 year:2022 number:3 day:03 month:01 pages:1022-1031 https://dx.doi.org/10.1007/s40313-021-00860-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 33 2022 3 03 01 1022-1031 |
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Jesus, Raphael C. O. @@aut@@ Molina, Lucas @@aut@@ Carvalho, Elyson A. N. @@aut@@ Freire, Eduardo O. @@aut@@ |
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We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. 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Jesus, Raphael C. O. |
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Jesus, Raphael C. O. misc Manipulators misc Robot kinematics misc Manipulator dynamics. Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators |
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Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators Manipulators (dpeaa)DE-He213 Robot kinematics (dpeaa)DE-He213 Manipulator dynamics. (dpeaa)DE-He213 |
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Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators |
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Jesus, Raphael C. O. |
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Journal of control, automation and electrical systems |
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singularity-free inverse kinematics with joint prioritization for manipulators |
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Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators |
| abstract |
Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. © Brazilian Society for Automatics--SBA 2021 |
| abstractGer |
Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. © Brazilian Society for Automatics--SBA 2021 |
| abstract_unstemmed |
Abstract This paper presents a Jacobian-based solution for inverse kinematics of serial rigid link robots while providing an intuitive way to control joint priorities with virtual inertia parameters. We improve the Transposed Jacobian by pre-multiplying it with the Joint Space Inertia Matrix, resulting in an algorithm that we named JTi-IK, which has shown equivalent convergence performance in iterations when compared to the Damped Least Squares method in our experiments. Pre- or post-multiplication of the Transposed Jacobian by a matrix is a concept pursued by the most basic methods. In our approach, we explore the matrices related to dynamics as an implementation of this concept in a way that only positive-definite matrices are inverted, so there are no singularities. After simplifications on the Joint Space Inertia Matrix, we reach the Virtual Inertia Matrix, which allows modifications on virtual weight distributions as control parameters for prioritization of different joints, affecting body posture without extra algorithm steps. In this paper, we also discuss the stabilizing effects of pre-multiplication matrices that appear in most Jacobian-derived methods. As it is also based on the Jacobian, our method inherits its generality, being valid for any serial manipulator structure. When evaluating JTi-IK for a planar robot, we reach the same results obtained in our previous paper. This is a very interesting result, since the methods are derived in distinct ways. © Brazilian Society for Automatics--SBA 2021 |
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Singularity-Free Inverse Kinematics with Joint Prioritization for Manipulators |
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https://dx.doi.org/10.1007/s40313-021-00860-4 |
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Molina, Lucas Carvalho, Elyson A. N. Freire, Eduardo O. |
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Molina, Lucas Carvalho, Elyson A. N. Freire, Eduardo O. |
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10.1007/s40313-021-00860-4 |
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2024-07-04T01:17:21.386Z |
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| score |
7.4006147 |