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dc.contributor.authorZaplana Agut, Isiah
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2018-02-07T10:51:51Z
dc.date.available2019-03-01T01:30:43Z
dc.date.issued2018-03-01
dc.identifier.citationZaplana, I., Basañez, L. A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis. "Mechanism and machine theory", 1 Març 2018, vol. 121, p. 829-843.
dc.identifier.issn0094-114X
dc.identifier.urihttp://hdl.handle.net/2117/113873
dc.description.abstract© 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form techniques have been developed so far. In this paper, redundant manipulators are reduced to non-redundant ones by selecting a set of joints, denoted redundant joints, and parametrizing its joint variables. This selection is made through a workspace analysis which also provides an upper bound for the number of different closed-form solutions for a given pose. Once these joints have been identified several closed-form methods developed for non-redundant manipulators can be applied for obtaining the analytical solutions. Finally, particular instances for the parametrized joints variables are determined depending on the task to be executed. Different criteria and optimization functions can be defined for that purpose.
dc.format.extent15 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.otherInverse kinematics
dc.subject.otherredundant manipulators
dc.subject.otherrobotics
dc.subject.otherworkspace analysis
dc.titleA novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis
dc.typeArticle
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1016/j.mechmachtheory.2017.12.005
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S0094114X17307802?via%3Dihub
dc.rights.accessOpen Access
drac.iddocument21706407
dc.description.versionPostprint (author's final draft)
upcommons.citation.authorZaplana, I., Basañez, L.
upcommons.citation.publishedtrue
upcommons.citation.publicationNameMechanism and machine theory
upcommons.citation.volume121
upcommons.citation.startingPage829
upcommons.citation.endingPage843


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Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 3.0 Spain