U. Beyer et F. Smieja, A HEURISTIC APPROACH TO THE INVERSE DIFFERENTIAL KINEMATICS PROBLEM, Journal of intelligent & robotic systems, 18(4), 1997, pp. 309-327
Citations number
12
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
Inversion of the kinematics of manipulators is one of the central prob
lems in the field of robot arm control. The iterative use of inverse d
ifferential kinematics is a popular method of solving this task. Norma
lly the solution of the problem requires a complex mathematical appara
tus. It involves methods for solving equation systems as well as algor
ithms for optimization. In this paper we introduce a naive heuristic m
ethod which works without the need for complex mathematical algorithms
. This method forms a simple basis for the more sophisticated control
procedures of our robot manipulator (JANUS).