Kinematik Configuration Control of Redundant robots:
Analitical solution of inverse kinematics through additional imaginary links
This project is part of: Robotics
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In recent years an innovative control concept for dexterous (redundant) manipulator with more joints as the workspace degrees of freedom has been developed.
This concept, Kinematic Configuration Control (KCC) , is based on combination of the global (analytical) resolution of redundancy and of the local (on-line) adaptation of current robot configuration to the task-dependent spatial situation. Due to this separation the KCC-algorithm is very efficient, guarantees low computational costs by high accuracy of robot motions. It was firstly verified by simulation for the robotic system with different number if redundant joints [2,3,4] and now has been confirmed practically for a 7-joint robot with humanlike kinematic structure.
The kernel of this innovative control technique is the novel approach of redundancy resolution – method of imaginary links [5,8,9]. This theoretical background is also good suitable for the robot motion planning by mobile manipulation [4,6].
Ivlev, Oleg Dr.
1. Phone (if not specified): +49 (0) 421 218 xxxx