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An adaptive inverse kinematics algorithm for robot manipulatorsAn adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.
Document ID
19910045567
Document Type
Conference Paper
Authors
Colbaugh, R. (New Mexico State Univ. Las Cruces, NM, United States)
Glass, K. (New Mexico State University Las Cruces, United States)
Seraji, H. (JPL Pasadena, CA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Subject Category
CYBERNETICS
Distribution Limits
Public
Copyright
Other