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Proceedings Paper

A novel inverse kinematics algorithm based on unidirectional search
Author(s): Young Dae Lee; Kee Hwan Kim
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Paper Abstract

In this paper, we propose a novel algorithm can exactly solve the inverse kinematics of a robot manipulator which does not have the closed form solution. The conventional numerical methods suggested by others have a weak point that they do not consider the feasible joint region of solution. Moreover they are likey to saddle on local points not on the real optimal points of solutions. In this work, we consider the inver kinematics problem as a kind of fixed point problem and propose a solution approach based on unidirectional search and boundary reflection algorithm which can guarantee the global optimal solution and the feasible range of joint limits. Futhermore we present an acceleration idea based upon Steffenson iteration which can speed up the search. Simulation results show the validity and efficiency of our approach.

Paper Details

Date Published: 2 May 2006
PDF: 7 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60420V (2 May 2006); doi: 10.1117/12.664578
Show Author Affiliations
Young Dae Lee, Semyung Univ. (South Korea)
Kee Hwan Kim, Semyung Univ. (South Korea)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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