A New Approach to Kinematic Control of Robot Manipulators

[+] Author and Article Information
A. A. Goldenberg

Departments of Mechanical and Electrical Engineering, Robotics & Automation Laboratory, University of Toronto, Toronto, Canada

J. A. Apkarian, H. W. Smith

Department of Electrical Engineering, Robotics & Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Canada

J. Dyn. Sys., Meas., Control 109(2), 97-103 (Jun 01, 1987) (7 pages) doi:10.1115/1.3143843 History: Received May 22, 1985; Online July 21, 2009


A new approach for solving the inverse kinematics problem iteratively is presented. The solution is based on the recursive estimation of a kinematics operator which maps the task space coordinates into joint coordinates. The recursive estimation is based on least square approximation. For controlling the robot, the solution (Joint coordinates) must be compensated to achieve an arbitrarily small error (in least square sense) of the desired task space coordinates. The compensation is provided by closed loop feedback of task space coordinates using an optimal control approach.

Copyright © 1987 by ASME
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