Numerical filtering for the operation of robotic manipulators through kinematically singular configurations

Maciejewski, Anthony A.; Klein, Charles A.

doi:10.1002/rob.4620050603

Cited by 221 publications

(99 citation statements)

References 19 publications

(26 reference statements)

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“…Finally we compare the SIK method with other wellknown approaches, specifically the KMA [28], CCD [25], Jacobian Transpose [7,8], Pseudoinverse [9], DLS [10,11], DLS with SVD [12,13], SDLS [14], PIK [16,17], and the TGB method for anthropomorphic limbs [26] combined with the reconstruction methods presented here for the spine and clavicles. We call the latter TGBSIK.…”

Section: Resultsmentioning

confidence: 99%

“…Another numerical approach is that in which the nonlinear problem is linearized using the Jacobian matrix where at each iteration an update of the DoF is obtained. There are different strategies for this update like the Jacobian Transpose method [7,8], the Pseudoinverse method [9], the Damped Least-Squares (DLS) [10,11], the DLS with Single Value Decomposition (SVD) [12,13] and the Selectively Damped Least Squares (SDLS) [14]. A review on these strategies can be found in the work of Buss and Kim [14].…”

Section: Related Workmentioning

confidence: 99%

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Full-body performance animation with Sequential Inverse Kinematics

et al. 2008

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a b s t r a c tIn this paper, we present an analytic-iterative Inverse Kinematics (IK) method, called Sequential IK (SIK), that reconstructs 3D human full-body movements in real time. The input data for the reconstruction is the least possible (i.e., the positions of wrists, ankles, head and pelvis) in order to be usable within a low-cost human motion capture system that would track only these six features. The performance of our approach is compared to other well-known IK methods in reconstruction quality and computation time obtaining satisfactory results for both. The paper first describes how we handle the spine and the clavicles before offering a simple joint limit model for ball-and-socket joints and a method to avoid self-collisions induced by the elbow. The second part focuses on the algorithms comparison study.

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Section: Resultsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Full-body performance animation with Sequential Inverse Kinematics

et al. 2008

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“…The value chosen for the damping factor can be a small constant [30] or other more sophisticated proposals in the literature can also be considered [31,32].…”

Section: Regularizationmentioning

confidence: 99%

Robot coordination using task-priority and sliding-mode techniques

Gracia

Sala

Garelli

2014

Robotics and Computer-Integrated Manufacturing

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ElsevierGracia Calandin, LI.; Sala Piqueras, A.; Garelli, F. (2014) AbstractIn this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.

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“…To avoid ill-conditioning when implementing (5), we resorted to a singularity-robust pseudoinversion based on numerical filtering [22] and implemented as…”

Section: B Differential Inverse Kinematicsmentioning

confidence: 99%

A novel framework for closed-loop robotic motion simulation - part I: Inverse kinematics design

Giordano

Masone

Tesch

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Experimental results are proposed to analyze the effectiveness of our approach. Part II [1] will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car.

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Numerical filtering for the operation of robotic manipulators through kinematically singular configurations

Cited by 221 publications

References 19 publications

Full-body performance animation with Sequential Inverse Kinematics

Full-body performance animation with Sequential Inverse Kinematics

Robot coordination using task-priority and sliding-mode techniques

A novel framework for closed-loop robotic motion simulation - part I: Inverse kinematics design

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