Tobias Marauli, Hubert Gattringer, Andreas Müller,
"Singularity Robust Inverse Kinematics of Serial Manipulators by means of a Joint Arc Length Parameterization"
: Advances in Service and Industrial Robotics - RAAD 2022, Serie Mechanisms and Machine Science, Vol. 120, 2022, ISBN: 978-3-031-04869-2
Singularity Robust Inverse Kinematics of Serial Manipulators by means of a Joint Arc Length Parameterization
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Advances in Service and Industrial Robotics - RAAD 2022
The inverse kinematics problem is ill-posed near kinematic singularities leading to extremely large joint velocities. This classical problem is addressed from a different perspective; instead of prescribing the end-effector (EE) motion in terms of a path parameter, the motion is parameterized in terms of the arc length in joint space. This allows tackling the inverse kinematics problem when approaching kinematic singularities. Thereupon a singularity consistent sampling scheme can easily be devised. A sampling of the arc length gives direct control over the joint motion for prescribed EE motion. The arc length parameterization can be used for solving the (time) optimal path following problem, avoiding the ill-conditioning upfront.