<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg-Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.</p></abstract>

The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg-Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.

A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

Institute of Computer Engineering, Control and Robotics Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

International Journal of Applied Mathematics and Computer Science

The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian...

A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

Publicado en línea: 28 jun 2013

Páginas: 373 - 382

DOI: https://doi.org/10.2478/amcs-2013-0028

This content is open access.