A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws

[+] Author and Article Information
R. P. Podhorodeski

Department of Mechanical Engineering, University of Victoria, Victoria, Canada, V8W 2Y2

A. A. Goldenberg, R. G. Fenton

Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Canada, M5S 1A4

J. Mech. Des 115(3), 530-539 (Sep 01, 1993) (10 pages) doi:10.1115/1.2919222 History: Revised March 01, 1990; Online June 02, 2008


In this paper, an approach for solving the inverse kinematics (velocity) problem for redundant open-chain manipulators is addressed. The solution is based upon finding a particular joint rate solution and identifying a joint velocity null-space basis through a decomposition of screw coordinates representing the joint axes. Optimal joint rate solutions are formulated in terms of the joint null-space basis. A specification of computational costs for numerical application is presented. The method is shown to be useful for analytical application through example derivations for two 7 revolute jointed manipulators and a platform mounted nonredundant manipulator.

Copyright © 1993 by The American Society of Mechanical Engineers
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