Singularity-robust inverse kinematics using lagrange multiplier for redundant manipulators
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Youngjin | - |
dc.date.accessioned | 2021-06-23T17:06:04Z | - |
dc.date.available | 2021-06-23T17:06:04Z | - |
dc.date.created | 2021-01-21 | - |
dc.date.issued | 2008-09 | - |
dc.identifier.issn | 0022-0434 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/42224 | - |
dc.description.abstract | In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity. First, an inverse kinematics problem is formulated to be an optimization one subject to an equality constraint, in other words, to be a minimization problem of secondary task error subject to an equality constraint for primary task execution. Second, in the procedure of minimization for a given objective function, a new inverse kinematics algorithm is derived. Third, since nonzero Lagrange multiplier values appear in the neighborhood of a singular configuration of a robotic manipulator, we choose them as a natural choice of the dampening factor to alleviate the ill-conditioning of matrix inversion, ultimately for singularity-robust inverse kinematics. Finally, the effectiveness of the suggested singularity-robust inverse kinematics is shown through a numerical simulation about deburring and conveyance tasks of a dual arm manipulator system. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | ASME | - |
dc.title | Singularity-robust inverse kinematics using lagrange multiplier for redundant manipulators | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Choi, Youngjin | - |
dc.identifier.doi | 10.1115/1.2957632 | - |
dc.identifier.scopusid | 2-s2.0-52649107654 | - |
dc.identifier.wosid | 000258229400009 | - |
dc.identifier.bibliographicCitation | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, v.130, no.5, pp.1 - 7 | - |
dc.relation.isPartOf | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME | - |
dc.citation.title | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME | - |
dc.citation.volume | 130 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 1 | - |
dc.citation.endPage | 7 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.subject.keywordPlus | ROBOT MANIPULATORS | - |
dc.subject.keywordPlus | RESOLUTION | - |
dc.subject.keywordAuthor | ROBOT MANIPULATORS | - |
dc.subject.keywordAuthor | RESOLUTION | - |
dc.identifier.url | https://asmedigitalcollection.asme.org/dynamicsystems/article/130/5/051009/466496/Singularity-Robust-Inverse-Kinematics-Using | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
55 Hanyangdeahak-ro, Sangnok-gu, Ansan, Gyeonggi-do, 15588, Korea+82-31-400-4269 sweetbrain@hanyang.ac.kr
COPYRIGHT © 2021 HANYANG UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.