TY - GEN
T1 - Robot manipulation through inverse kinematics
AU - Hayat, Abdullah Aamir
AU - Ratan Sadanand, O. M.
AU - Saha, Subir K.
N1 - Publisher Copyright:
© 2015 ACM.
PY - 2015/7/2
Y1 - 2015/7/2
N2 - Inverse kinematics of a robot is very essential to find the joint variables that satisfy the desired pose of the robot during its manipulation. This is used in controlling the robot position, animation of the robot, etc. In this paper, step-by-step explanation and comparison of two widely used methods, namely, inverse kinematics and Jacobian inverse methods, for robot manipulation are presented. For this purpose a six degrees-of-freedom wrist-partitioned industrial robot KUKA KR5 Arc was used to illustrate the methods. A novel approach has been proposed for selecting the appropriate set of joint angles among the several inverse kinematic solutions. It is based on weight of each link and manipulability. The comparison of these approaches for linear and circular trajectory is presented. Their advantages, limitations, applications, and computations involved are also highlighted.
AB - Inverse kinematics of a robot is very essential to find the joint variables that satisfy the desired pose of the robot during its manipulation. This is used in controlling the robot position, animation of the robot, etc. In this paper, step-by-step explanation and comparison of two widely used methods, namely, inverse kinematics and Jacobian inverse methods, for robot manipulation are presented. For this purpose a six degrees-of-freedom wrist-partitioned industrial robot KUKA KR5 Arc was used to illustrate the methods. A novel approach has been proposed for selecting the appropriate set of joint angles among the several inverse kinematic solutions. It is based on weight of each link and manipulability. The comparison of these approaches for linear and circular trajectory is presented. Their advantages, limitations, applications, and computations involved are also highlighted.
KW - Inverse kinematics
KW - Jacobian
KW - Manipulability
KW - Robot manipulation
UR - http://www.scopus.com/inward/record.url?scp=84958536352&partnerID=8YFLogxK
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U2 - 10.1145/2783449.2783497
DO - 10.1145/2783449.2783497
M3 - Conference contribution
AN - SCOPUS:84958536352
T3 - ACM International Conference Proceeding Series
BT - Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015
PB - Association for Computing Machinery
T2 - 2015 Conference on Advances In Robotics, AIR 2015
Y2 - 2 July 2015 through 4 July 2015
ER -