Publication

Towards an efficient interval method for solving inverse kinematic problems

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

1997

Pages

3615-3620

Doc link

http://dx.doi.org/10.1109/ROBOT.1997.606896

File

Download the digital copy of the doc pdf document

Authors

Abstract

We present an algebraic analysis of the closure equation obtained for arbitrary single loop spatial kinematic chains, which allows us to design an efficient interval method for solving their inverse kinematics. The solution of a kinematic equation can be factored into a solution of both its rotational and its translational components. We have obtained general and simple expressions for these equations and their derivatives that are used to perform Newton cuts. A branch and prune strategy is used to get a set of boxes as small as desired containing the solutions. If the kinematic chain is redundant, this approach can also provide a discretized version of the solution set. The mathematics of the proposed approach are quite simple and much more intuitive than continuation or elimination methods. Yet it seems to open a promising field far further developments

Categories

automation.

Scientific reference

A. Castellet and F. Thomas. Towards an efficient interval method for solving inverse kinematic problems, 1997 IEEE International Conference on Robotics and Automation, 1997, Alburquerque, New Mexico, USA, pp. 3615-3620.