A HEURISTIC APPROACH TO THE INVERSE DIFFERENTIAL KINEMATICS PROBLEM

Authors
Citation
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
ISSN journal
09210296
Volume
18
Issue
4
Year of publication
1997
Pages
309 - 327
Database
ISI
SICI code
0921-0296(1997)18:4<309:AHATTI>2.0.ZU;2-5
Abstract
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).