In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity. First, an inverse kinematics problem is formulated to be an optimization one subject to an equality constraint, in other words, to be a minimization problem of secondary task error subject to an equality constraint for primary task execution. Second, in the procedure of minimization for a given objective function, a new inverse kinematics algorithm is derived. Third, since nonzero Lagrange multiplier values appear in the neighborhood of a singular configuration of a robotic manipulator, we choose them as a natural choice of the dampening factor to alleviate the ill-conditioning of matrix inversion, ultimately for singularity-robust inverse kinematics. Finally, the effectiveness of the suggested singularity-robust inverse kinematics is shown through a numerical simulation about deburring and conveyance tasks of a dual arm manipulator system.
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e-mail: cyj@hanyang.ac.kr
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September 2008
Research Papers
Singularity-Robust Inverse Kinematics Using Lagrange Multiplier for Redundant Manipulators
Youngjin Choi
Youngjin Choi
Division of Electrical Engineering and Computer Science,
e-mail: cyj@hanyang.ac.kr
Hanyang University
, Ansan 426-791, Republic of Korea
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Youngjin Choi
Division of Electrical Engineering and Computer Science,
Hanyang University
, Ansan 426-791, Republic of Koreae-mail: cyj@hanyang.ac.kr
J. Dyn. Sys., Meas., Control. Sep 2008, 130(5): 051009 (7 pages)
Published Online: August 4, 2008
Article history
Received:
September 28, 2007
Revised:
May 12, 2008
Published:
August 4, 2008
Citation
Choi, Y. (August 4, 2008). "Singularity-Robust Inverse Kinematics Using Lagrange Multiplier for Redundant Manipulators." ASME. J. Dyn. Sys., Meas., Control. September 2008; 130(5): 051009. https://doi.org/10.1115/1.2957632
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