Publica
Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten. A heuristic approach to the inverse differential kinematics problem
| Journal of intelligent and robotic systems 18 (1997), No.4, pp.309-327
ISSN: 0921-0296 |
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| English |
| Journal Article |
| Fraunhofer AIS ( IAIS) () |
| differential kinematic; autonomous agent; heuristic |
Abstract
Inversion of the kinematics of manipulators is one of the central problems in the field of robot arm control. The iterative use of inverse differential kinematics is a popular method of solving this task. Normally the solution of the problem requires a complex mathematical apparatus. It involves methods for solving equation systems as well as algorithms for optimization. In this paper we introduce a naïve heuristic method which works without the need for complex mathematical algorithms. This method forms a simple basis for the more sophisticated control procedures of our robot manipulator (JANUS).