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ID 14659
file
Thumnail J_035.pdf 621 KB
title alternative
Instantaneous inverse kinematic solution for redundant manipulators based on virtual arms and its application to winding control
creator
Nakayama, Seiya
Araki, Atsushi
Ito, Koji
subject
computer control
mechanics
robotics
redundant manipulator
inverse kinematics
winding control
virtual arm
NDC
Mechanical engineering
description
The present paper proposes an instantaneous inverse kinematic solution for redundant manipulators based on virtual arms. The virtual arm has the same kinematic structure as the manipulator except that its end-point is located on the joint or link of the manipulator. When the appropriate virtual arms are used, the configuration of the manipulator can be represented by a set of end-points of the virtual arms. First of all, this paper formalizes the kinematics of virtual arms and derives instantaneous inverse kinematics. Then, the method is applied to winding control for hyper-redundant manipulators. The winding control presented here is divided into two steps: 1)planning desired positions for virtual end-points, 2)integrating them into the joint trajectory of the manipulator. The desired positions of each virtual arm can be computed in a parallel and distributed way and it is not necessary to consider joint space of the manipulator. Finally computer simulations show that the winding control for a hyper-redundant manipulator can be performed in 3D-space.
journal title
日本機械学会論文(C編)
volume
Volume 59
issue
Issue 558
start page
474
end page
480
date of issued
1993-02
publisher
日本機械学会
issn
0387-5024
language
jpn
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
rights
Copyright (c) 1993 日本機械学会
department
Graduate School of Engineering