Singularity-robust inverse kinematics using lagrange multiplier for redundant manipulators
- Authors
- Choi, Youngjin
- Issue Date
- Sep-2008
- Publisher
- ASME
- Keywords
- ROBOT MANIPULATORS; RESOLUTION
- Citation
- Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, v.130, no.5, pp.1 - 7
- Indexed
- SCIE
SCOPUS
- Journal Title
- Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
- Volume
- 130
- Number
- 5
- Start Page
- 1
- End Page
- 7
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/42224
- DOI
- 10.1115/1.2957632
- ISSN
- 0022-0434
- 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.
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