<abstract xmlns="http://www.w3.org/1999/xhtml"><p> A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.</p></abstract>

A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.

A Fast Evaluation of Initial Configurations in Repeatable Inverse Kinematics for Redundant Manipulators

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given...

A Fast Evaluation of Initial Configurations in Repeatable Inverse Kinematics for Redundant Manipulators

Published Online: Oct 03, 2018

Page range: 483 - 492

Received: Aug 21, 2017

Accepted: Mar 06, 2018

DOI: https://doi.org/10.2478/amcs-2018-0037

Keywords
manipulator, repeatable inverse kinematics, initial configuration, optimization

© 2018 Ignacy Duleba, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

A Fast Evaluation of Initial Configurations in Repeatable Inverse Kinematics for Redundant Manipulators

Published Online: Oct 03, 2018

Page range: 483 - 492

Received: Aug 21, 2017

Accepted: Mar 06, 2018

DOI: https://doi.org/10.2478/amcs-2018-0037

Keywordsmanipulator, repeatable inverse kinematics, initial configuration, optimization

© 2018 Ignacy Duleba, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
manipulator, repeatable inverse kinematics, initial configuration, optimization