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A heuristic approach to the inverse differential kinematics problem

: Beyer, U.; Smieja, F.


Journal of intelligent and robotic systems 18 (1997), No.4, pp.309-327
ISSN: 0921-0296
Journal Article
Fraunhofer AIS ( IAIS) ()
differential kinematic; autonomous agent; heuristic

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).