Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy

verfasst von

Moritz Schappler, Tobias Blum, Tim-David Job

Abstract

Geometric formulations for the inverse kinematics problem (IKP) in robotics are often set up in the full Cartesian space of three translational and three rotational coordinates (3T3R). When transferring this to tasks with spatial rotation like 3T2R, 2T3R or 2T2R, the result is usually not defined in a minimal set of independent coordinates. Removing the excluded operational space coordinates completely from the expressions is interesting from a theoretical point of view and simplifies further calculations. This can be achieved by formulating a 2R residual using the Z- Y

^′ - X

^{′ ′} Tait-Bryan angles and a 2T residual derived by the projection of the pointing direction on a plane. In this paper, the minimal-coordinate IKP is derived for 2T2R and 2T3R tasks on position level with application to a gradient-projection scheme. Limitations of the redundant coordinate are considered within the nullspace.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

399-408

Anzahl der Seiten

Publikationsdatum

18.06.2022

Publikationsstatus

Veröffentlicht

Peer-reviewed

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Elektrotechnik und Elektronik, Maschinenbau, Ingenieurwesen (sonstige), Artificial intelligence, Angewandte Informatik, Angewandte Mathematik

Elektronische Version(en)

https://doi.org/10.15488/12465 (Zugang: Offen)
https://doi.org/10.1007/978-3-031-08140-8_43 (Zugang: Geschlossen)