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dc.contributor.authorColomé Figueras, Adrià
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2013-03-12T17:41:38Z
dc.date.available2013-03-12T17:41:38Z
dc.date.created2012
dc.date.issued2012
dc.identifier.citationColomé, A.; Torras, C. Redundant inverse kinematics: experimental comparative review and two enhancements. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems". Vilamoura: 2012, p. 5333-5340.
dc.identifier.urihttp://hdl.handle.net/2117/18238
dc.description.abstractMotivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used closed-loop methods for redundant robots, analysing their main points of concern: convergence, numerical error, singularity handling, joint limit avoidance, and the capability of reaching secondary goals. As a result of the experimental comparison, we propose two enhancements. The first is to filter the singular values of the Jacobian matrix before calculating its pseudoinverse in order to obtain a more numerically robust result. The second is to combine a continuous task priority strategy with selective damping to generate smoother trajectories. Experimentation on the WAM robot arm shows that these two enhancements yield an IK algorithm that improves on the reviewed state-of-the-art ones, in terms of the good compromise it achieves between time step length, Jacobian conditioning, multiple task performance, and computational time, thus constituting a very solid option in practice. This proposal is general and applicable to other redundant robots.
dc.format.extent8 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::Enginyeria dels materials
dc.subject.lcshMaterials handling -- Automation
dc.subject.othermanipulators robot kinematics
dc.titleRedundant inverse kinematics: experimental comparative review and two enhancements
dc.typeConference report
dc.subject.lemacMaterials -- Manipulació--Automatització
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1109/IROS.2012.6385672
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Manipulators
dc.relation.publisherversionhttp://dx.doi.org/10.1109/IROS.2012.6385672
dc.rights.accessOpen Access
local.identifier.drac11216197
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
local.citation.authorColomé, A.; Torras, C.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.pubplaceVilamoura
local.citation.publicationNameProceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.startingPage5333
local.citation.endingPage5340


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