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A new method to solve robot inverse kinematics using Assur virtual chains

Published online by Cambridge University Press:  06 March 2009

H. Simas ,
R. Guenther ,
D. F. M. da Cruz  and
D. Martins
H. Simas*
Affiliation:
Departamento de Engenharia Mecânica, Laboratório de Robótica, UFSC Florianópolis, SC, Brazil CTTMAR – Centro de Ciências Tecnológicas da Terra e do Mar, UNIVALI - São José, SC, Brazil
R. Guenther
Affiliation:
Departamento de Engenharia Mecânica, Laboratório de Robótica, UFSC Florianópolis, SC, Brazil in memoriam
D. F. M. da Cruz
Affiliation:
Departamento de Engenharia Mecânica, Laboratório de Robótica, UFSC Florianópolis, SC, Brazil
D. Martins
Affiliation:
Departamento de Engenharia Mecânica, Laboratório de Robótica, UFSC Florianópolis, SC, Brazil
*
*Corresponding author. E-mail: hsimas@univali.br
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Summary

This paper describes a numerical algorithm to solve the inverse kinematics of parallel robots based on numerical integration. Inverse kinematics algorithms based on numerical integration involve the drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from that desired. The proposed algorithm associates a novel method to describe the differential kinematics with a simple numerical integration method. The methodology is presented in this paper and its exponential stability is proved. A numerical example and a real application are presented to outline its advantages.

Keywords

Differential kinematics modelError controlClosed kinematics chainsNumerical stability

Information

Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 1017 - 1026
Copyright
Copyright © Cambridge University Press 2009

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