Performance Analysis of FIK and DLS Inverse Kinematics Using Six Degree of Freedom Manipulator

摘要：

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.

作者: Sajid M. Ahmed Alexander N. Pechev

作者单位: University of Surrey Surrey space centre,university of surrey UK

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1405-1410

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）