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dc.contributor.authorColomé Figueras, Adrià
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2015-07-31T12:45:36Z
dc.date.available2015-07-31T12:45:36Z
dc.date.created2015
dc.date.issued2015
dc.identifier.citationColomé, A., Torras, C. Closed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements. "IEEE-ASME transactions on mechatronics", 2015, núm. 2, p. 944-955.
dc.identifier.issn1083-4435
dc.identifier.urihttp://hdl.handle.net/2117/76480
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 IK (CLIK) 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 a new filter for the singular values of the Jacobian matrix that guarantees that its conditioning remains stable, while none of the filters found in literature is successful at doing so. 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.extent12 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.othermanipulators
dc.subject.otherrobot kinematics
dc.subject.otherinverse kinematics
dc.subject.otherredundant manipulators
dc.titleClosed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements
dc.typeArticle
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1109/TMECH.2014.2326304
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.relation.publisherversionLuz/juliol/2015: revisada en base al text localitzat a http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6832645
dc.rights.accessOpen Access
drac.iddocument15271313
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorColomé, A.; Torras, C.
upcommons.citation.publishedtrue
upcommons.citation.publicationNameIEEE-ASME transactions on mechatronics
upcommons.citation.volume20
upcommons.citation.number2
upcommons.citation.startingPage944
upcommons.citation.endingPage955


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