A fast procedure for manipulator inverse kinematics evaluation and pseudoinverse robustness

摘要

A fast procedure for the computation of manipulator inverse kinematics and pseudoinverse robustness is presented. The approach is based on solving a linear algebraic system and evaluating the norm of the Jacobian matrix. This value is properly used in an original scheme that is also proposed for the appropriate robustness of the pseudoinverse matrix. The developed algorithm is tested on the simulation of a planar redundant manipulator and of an industrial robot arm. From the results obtained it is observed that the proposed approach compares favorably with the approaches using a Gaussian elimination procedure and with pseudoinverse robustness based on a manipulability measure.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>