Relevant bibliographies by topics / Inverse kinematics of redundant manipulators

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
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Academic literature on the topic 'Inverse kinematics of redundant manipulators'

Author: Grafiati
Published: 3 June 2025
Last updated: 22 June 2025

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Journal articles on the topic "Inverse kinematics of redundant manipulators"

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Xu, Qinhuan, and Qiang Zhan. "A real-time inverse kinematics solution based on joint perturbation for redundant manipulators." Mechanical Sciences 12, no. 1 (2021): 221–35. http://dx.doi.org/10.5194/ms-12-221-2021.

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Abstract. Aiming at the problem that the calculation of the inverse kinematics solution of redundant manipulators is very time-consuming, this paper presents a real-time method based on joint perturbation and joint motion priority. The method first seeks the pose nearest to the target pose in the manipulator's pose set through fine-tuning all the joints with different angle deviations at the same time and then regards this pose as the starting one to perform iterative calculations until the error between the current pose and the target pose is less than the predetermined error, thus obtaining the inverse kinematics solution corresponding to the target pose. This method can avoid the pseudo-inverse calculations of the Jacobian matrix and significantly reduce the solving complexity. Two types of manipulators are taken as examples to validate the proposed method. Under the premise that the manipulator motion trajectory is satisfied, the Jacobian pseudo-inverse method and the proposed method are both adopted to solve the inverse kinematics. Simulations and comparisons show that the proposed method has better real-time performance, and the joint motions can be flexibly controlled by setting different joint motion priorities. This method can make the work cycle faster and improve the production efficiency of redundant manipulators in real applications.
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Ruggiu, Maurizio, and Andreas Müller. "Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators." Robotics 10, no. 1 (2021): 9. http://dx.doi.org/10.3390/robotics10010009.

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Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators. An important question, with high practical relevance, is whether the inverse kinematics solution is cyclic, i.e., whether the redundancy solution leads to a closed path in joint space as a solution of a closed path in task space. This paper investigates the cyclicity property of two widely used redundancy resolution methods, namely the projected gradient method (PGM) and the augmented Jacobian method (AJM), by means of examples. Both methods determine solutions that minimize an objective function, and from an application point of view, the sensitivity of the methods on the initial configuration is crucial. Numerical results are reported for redundant serial robotic arms and for redundant parallel kinematic manipulators. While the AJM is known to be cyclic, it turns out that also the PGM exhibits cyclicity. However, only the PGM converges to the local optimum of the objective function when starting from an initial configuration of the cyclic trajectory.
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Shi, Jianping, Yuting Mao, Peishen Li, et al. "Hybrid Mutation Fruit Fly Optimization Algorithm for Solving the Inverse Kinematics of a Redundant Robot Manipulator." Mathematical Problems in Engineering 2020 (May 7, 2020): 1–13. http://dx.doi.org/10.1155/2020/6315675.

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The inverse kinematics of redundant manipulators is one of the most important and complicated problems in robotics. Simultaneously, it is also the basis for motion control, trajectory planning, and dynamics analysis of redundant manipulators. Taking the minimum pose error of the end-effector as the optimization objective, a fitness function was constructed. Thus, the inverse kinematics problem of the redundant manipulator can be transformed into an equivalent optimization problem, and it can be solved using a swarm intelligence optimization algorithm. Therefore, an improved fruit fly optimization algorithm, namely, the hybrid mutation fruit fly optimization algorithm (HMFOA), was presented in this work for solving the inverse kinematics of a redundant robot manipulator. An olfactory search based on multiple mutation strategies and a visual search based on the dynamic real-time updates were adopted in HMFOA. The former has a good balance between exploration and exploitation, which can effectively solve the premature convergence problem of the fruit fly optimization algorithm (FOA). The latter makes full use of the successful search experience of each fruit fly and can improve the convergence speed of the algorithm. The feasibility and effectiveness of HMFOA were verified by using 8 benchmark functions. Finally, the HMFOA was tested on a 7-degree-of-freedom (7-DOF) manipulator. Then the results were compared with other algorithms such as FOA, LGMS-FOA, AE-LGMS-FOA, IFOA, and SFOA. The pose error of end-effector corresponding to the optimal inverse solution of HMFOA is 10−14 mm, while the pose errors obtained by FOA, LGMS-FOA, AE-LGMS-FOA, IFOA, and SFOA are 102 mm, 10−1 mm, 10−2 mm, 102 mm, and 102 mm, respectively. The experimental results show that HMFOA can be used to solve the inverse kinematics problem of redundant manipulators effectively.
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Peidro, Adrian, and Edward J. Haug. "Obstacle Avoidance in Operational Configuration Space Kinematic Control of Redundant Serial Manipulators." Machines 12, no. 1 (2023): 10. http://dx.doi.org/10.3390/machines12010010.

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Kinematic control of redundant serial manipulators has been carried out for the past half century based primarily on a generalized inverse velocity formulation that is known to have mathematical deficiencies. A recently developed inverse kinematic configuration mapping is employed in an operational configuration space differentiable manifold formulation for redundant-manipulator kinematic control with obstacle avoidance. This formulation is shown to resolve deficiencies in the generalized inverse velocity formulation, especially for high-degree-of-redundancy manipulators. Tracking a specified output trajectory while avoiding obstacles for four- and twenty-degree-of-redundancy manipulators is carried out to demonstrate the effectiveness of the differentiable manifold approach for applications with a high degree of redundancy and to show that it indeed resolves deficiencies of the conventional generalized inverse velocity formulation in challenging applications.
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Kong, Ying, Ruiyang Zhang, Yunliang Jiang, and Xiaoyun Xia. "A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application." Complexity 2019 (July 31, 2019): 1–16. http://dx.doi.org/10.1155/2019/8642027.

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For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network (TTZNN) with finite-time convergence is proposed for inverse kinematics of mobile manipulators. It takes the advantages that each joint of the manipulator is required to return to the desired initial position not considering the initial orientation of itself for realizing repeatable kinematics control. Unlike the existed training methods, such an optimization of kinematic energy scheme based on TTZNN can not only reduce the convergent position error of each joint to zero in finite time, but also improve the convergent precision. Theoretical analysis and verifications show that the proposed optimal kinematic energy scheme accelerates the convergent rate, which is tended to be applied in practical robot kinematics. Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.
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Hao, Run Sheng. "Second Order Recurrent Neural Network for the Inverse Kinematics of Redundant Manipulators." Applied Mechanics and Materials 391 (September 2013): 114–17. http://dx.doi.org/10.4028/www.scientific.net/amm.391.114.

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In this paper, the second order recurrent neural network is adopted to study the inverse kinematics problem of three degree-of-freedom planar redundant manipulators. The Simulation results show that the network can effectively solve the inverse kinematics problem of redundant manipulators, and it reaches to good precision of solution and solving speed.
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Ge, Dawei. "Kinematics modeling of redundant manipulator based on screw theory and Newton-Raphson method." Journal of Physics: Conference Series 2246, no. 1 (2022): 012068. http://dx.doi.org/10.1088/1742-6596/2246/1/012068.

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Abstract In this paper, forward kinematics and inverse kinematicsis algorithms are proposed to solve the problem that the redundant manipulator has more freedom than the traditional manipulator and cannot directly solve the inverse kinematics analytical solution. Firstly, the forward kinematics model is established through the screw theory; secondly, Newton-Raphson method is used to solve the inverse kinematics of the manipulator. Finally, the algorithms of redundant manipulator are verified through an example simulated by Matlab Robotics toolbox. The results show that the kinematic algorithms are correct, which provides a good algorithm basis for subsequent dynamic control.
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Wang, Yunfeng. "A fast workspace-density-driven inverse kinematics method for hyper-redundant manipulators." Robotica 24, no. 5 (2006): 649–55. http://dx.doi.org/10.1017/s0263574706002827.

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Hyper-redundant manipulators have a very large number of redundant degrees of freedom. They have been recognized as a means to improve manipulator performance in complex and unstructured environments. However, the high degree of redundancy also poses new challenges when performing inverse kinematics calculations. Prior works have shown that the workspace density (generated by sampling the joint space and evaluating the frequency of occurrence of the resulting end-effector reference frames) is a valuable quantity for use in ${\cal O}(P)$ inverse kinematics algorithms. Here $P$ is the number of modules in a manipulator constructed of a serial cascade of modules. This paper develops a new “divide-and-conquer” method for inverse kinematics using the workspace density. This method does not involve a high-dimensional Jacobian matrix and offers high accuracy. And its computational complexity is only ${\cal O}({\rm log}_2\,P)$, which makes it ideal for very high degree-of-freedom systems. Numerical simulations are performed to demonstrate this new method on a planar example, and a detailed comparison with a breadth-first search method is conducted.
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Ricardo Xavier da Silva, Sérgio, Leizer Schnitman, and Vitalino Cesca Filho. "A Solution of the Inverse Kinematics Problem for a 7-Degrees-of-Freedom Serial Redundant Manipulator Using Gröbner Bases Theory." Mathematical Problems in Engineering 2021 (July 28, 2021): 1–14. http://dx.doi.org/10.1155/2021/6680687.

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This article presents a solution of the inverse kinematics problem of 7-degrees-of-freedom serial redundant manipulators. A 7-degrees-of-freedom (7-DoF) redundant manipulator can avoid obstacles and thus improve operational performance. However, its inverse kinematics is difficult to solve since it has one more DoF than that necessary for reaching the whole workspace, which causes infinite solutions. In this article, Gröbner bases theory is proposed to solve the inverse kinematics. First, the Denavit–Hartenberg model for the manipulator is established. Second, different joint configurations are obtained using Gröbner bases theory. All solutions are confirmed with the aid of algebraic computing software, confirming that this method is accurate and easy to be implemented.
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Habibkhah, Shahnaz, and Rene V. Mayorga. "An ANN and Virtual Vector Function Approach for the Computation of the Inverse Kinematics of Redundant Manipulators." WSEAS TRANSACTIONS ON INFORMATION SCIENCE AND APPLICATIONS 18 (December 30, 2021): 131–40. http://dx.doi.org/10.37394/23209.2021.18.15.

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This Paper presents an Artificial Neural Network (ANN) method for the solution of the Inverse Kinematics (IK) of redundant manipulators. This problem normally has an infinite number of solutions. Several conventional approaches based on numerical methods have been proposed over the years. However, it is well known that ANN implementations for the solution of the problem for redundant manipulators are inefficient since they lead to inaccurate solutions. The main issue on the implementation of ANN solutions is that an attempt is made on mapping a relation from a given number of variables in the manipulator task space to a larger number of variables in the joint space. This Paper proposes the inclusion of a virtual vector function in the task space to “complete” it; so that the number of variables in the task space is at least equal to the number of variables in the joint space. Here, the proposed approach is successfully tested on a 3 DOF planar redundant manipulator performing four diverse target trajectories inside the manipulator’s workspace. Additionally, in order to define the target trajectories, some manipulator’s links limitations are considered and some conditions are set for the target trajectories.
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Dissertations / Theses on the topic "Inverse kinematics of redundant manipulators"

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Keselman, Leo. "Motion planning for redundant manipulators and other high degree-of-freedom systems." Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51895.

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Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems that do not require inverse kinematics and are potentially complete. These methods are also compared in performance to standard inverse kinematics based methods.
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Altay, Alkan. "Steering Of Redundant Robotic Manipulators And Spacecraft Integrated Power And Attitude Control - Control Moment Gyroscopes." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607043/index.pdf.

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In this thesis, recently developed Blended Inverse (B-inverse) steering law is applied to two different redundant actuator systems. First, repeatability of Binverse is demonstrated on a redundant robotic manipulator. Its singularity avoidance and singularity transition performance is also demonstrated on the same actuator system. It is shown that B-inverse steering law provides singularity avoidance, singularity transition and repeatability. Second, its effectiveness is demonstrated for an Integrated Power and Attitude Control - Control Moment Gyroscope (IPAC-CMG) cluster, which can perform energy management and attitude control functions simultaneously. For this purpose, an IPAC-CMG flywheel is conceptually designed. A control policy is developed for the energy management.
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Ananthanarayanan, Hariharan Sankara. "Complete Path Planning of Higher DOF Manipulators in Human Like Environments." University of Dayton / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1445972852.

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Pretto, Isacco. "Base Reaction Control of Space Manipulators." Doctoral thesis, Università degli studi di Padova, 2010. http://hdl.handle.net/11577/3427040.

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In this thesis a research activity is presented, concerning matters of dynamics and control of robot manipulators for space robotics applications. In particular, kinematic control principles suitable for the realization of trajectory-tracking manoeuvres are considered for manipulators in the kinematic redundancy condition, that is typically available on actual space robotic systems. A well known characteristic of space manipulators is due to the dynamic coupling that arises between the manipulator motion and the motion of the base spacecraft on which the manipulator is mounted, due to action-reaction exchanges between the subsystems, and to the characteristics of their momentum equations that determine the non-holonomic nature of the system. This coupling determines dynamic disturbances generated by the manipulator during operation. It reveals important to control these disturbances in order to respect the pointing requirements of the spacecraft, for what concerns communications, on-board instrumentation, and solar panels orientation, and also for what concerns restrictions on the admissible acceleration disturbances exerted on the base platform, that in particular can be imposed during experimental micro-gravity activities onboard the space station. Fundamental objective of the kinematic control schemes developed in this work is to achieve an optimization of the possible joint trajectories that command the movement of the arm, in order to minimize the dynamic disturbances exerted on the platform, which is possible thanks to a balanced coordination of the arm internal motions, that compensates for its momentum variations that are produced during a trajectory-tracking manoeuvre. Original formulations for the base reaction control are presented and analyzed, and the problem is set in the mathematical framework of constrained least squares methods, while the kinematic control is resolved at the joint acceleration level, in order to attain an effective expressions of the kinematic and dynamic variables involved. The proposed principles reveal suitable for real-time space applications, thanks to the local formulation of the optimization problems and to the use of stable and consolidated solution routines. Analysis and validation of the proposed laws have been developed be means of an experimental test campaign on a planar robot manipulator prototype with three degrees-of-freedom, suspended by air bearings on a flat granite plane, in order to simulate the microgravity environment. In particular a series of trajectory-tracking tests have been performed with dynamic measurements of the resultant base reactions. The analysis is completed by means of a robot simulator system, that has been developed by reproducing the geometrical and inertial characteristics of the experimental prototype. The performance of the control laws have been evaluated both in the fixed base condition, and in the free-floating base condition, and in this case an evaluation on the influence of the inertial parameters involved have been carried out. An independent research activity was related to the application of optimization methods for contact forces control of a bio-inspired climbing robots with dry adhesive pads. Control principles are presented, and their performances evaluated by means of a robot simulator and validated through an experimental robot prototype.<br>In questa tesi è presentato un lavoro di ricerca sulla dinamica ed il controllo di bracci robotici per applicazioni spaziali. In particolare, sono proposti dei principi di controllo cinematico adatti all'inseguimento di traiettorie nello spazio operativo del manipolatore in condizioni di ridondanza cinematica, le quali sono tipicamente disponibili negli attuali sistemi robotici spaziali. Caratteristica meccanica peculiare delle applicazioni di robotica orbitale è l'accoppiamento dinamico che si verifica tra il moto del braccio ed il moto della piattaforma satellitare sulla quale è montato, dovuto agli scambi di azione e reazione che i due sottosistemi si scambiano tra di loro ed alla natura non-olonomica del sistema. Tale accoppiamento è causa di disturbi dinamici esercitati dal manipolatore in fase di operazione, che è necessario controllare in modo da ottemperare sia ai requisiti di puntamento del satellite per quanto riguarda le comunicazioni, la strumentazione di bordo, e l'orientazione dei pannelli solari, sia alle restrizioni sui disturbi di accelerazione impartiti alla piattaforma, che in particolare possono essere imposte durante attività sperimentali in microgravità a bordo della stazione spaziale. Obiettivo fondamentale degli schemi di controllo cinematico sviluppati in questo lavoro, è quello di realizzare una ottimizzazione delle possibili traiettorie di giunto che comandano il movimento del braccio, in modo da minimizzare il disturbo dinamico esercitato sulla piattaforma, reso possibile attraverso la coordinazione dei movimenti interni del braccio, i quali compensino le variazioni di momento che si producono in questo durante l'inseguimento di traiettoria. Formulazioni originali di controllo delle reazioni sono presentate ed analizzate, attraverso il supporto matematico dei metodi ai minimi quadrati vincolati, mentre il controllo cinematico è risolto al livello delle accelerazioni di giunto, in modo da poter esprimere in maniera efficace le grandezze cinematiche e dinamiche coinvolte. I principi proposti si rivelano adatti per l'implementazione in tempo reale in applicazioni spaziali, grazie all'impostazione dei problemi in forma locale ed alla possibilità di utilizzo di algoritmi numerici stabili e consolidati. L'analisi e la validazione delle leggi proposte è stata effettuata attraverso prove sperimentali su un manipolatore planare sperimentale a tre gradi di libertà, sospeso su cuscinetti d'aria in modo da simulare l'ambiente di microgravità, con il quale sono state effettuate prove di inseguimento con misure dinamiche dei disturbi di reazione. L'analisi sperimentale è accompagnata dallo sviluppo di un ambiente di simulazione, il quale riproduce le caratteristiche geometriche ed inerziali del robot sperimentale. Le prestazioni delle leggi di controllo sono state valutate sia per le condizioni di vincolo a base fissa, che di base libera, ed in quest'ultimo caso sono state effettuate valutazioni rispetto all'influenza dei parametri inerziali coinvolti. Una parte indipendente del lavoro, riguarda infine l'applicazione di metodi di ottimizzazione per il controllo delle forze di adesione, adatti al controllo di robot arrampicatori, i quali sfruttano l'utilizzo di sistemi di adesione secca in modo da aumentare l'aderenza alla superficie. I principi di controllo sono testati attraverso un simulatore ed i risultati validati in un robot prototipo sperimentale.
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Ayten, Kagan Koray. "Optimum trajectory planning for redundant manipulators through inverse dynamics." Thesis, University of Bath, 2012. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.665377.

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The purpose of this thesis is to develop methods to generate minimum-energy consumption trajectories for a point-to-point motion under pre-defined kinematic and dynamic constraints for robotic manipulators. With respect to other trajectory optimization methods, the work presented in this thesis provides two new methods to the scientific literature. The proposed methods improve the handling of the constraints in trajectory optimization methods as well as reducing the computational complexity of redundant/hyper-redundant manipulator systems.
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Chan, Vincent K. "Singularity analysis and redundant actuation of parallel manipulators." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17766.

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Pohl, Eric David. "On mappings of complex inverse kinematics solutions." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/18362.

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Anderson, Karen 1959. "Inverse kinematics of robot manipulators in the presence of singularities and redundancies." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=66208.

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Cordle, William H. "Numerical inverse kinematics for a six-degree-of-freedom manipulator." Thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-12052009-020222/.

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Fontinele, Humberto Ãcaro Pinto. "Local models for inverse kinematics approximation of redundant robots: a performance comparison." Universidade Federal do CearÃ, 2015. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=16727.

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nÃo hÃ<br>In this dissertation it is reported the results of a comprehensive comparative study involving six local models applied to the task of learning the inverse kinematics of three redundant robotic arm (planar, PUMA 560 and Motoman HP6). The evaluated algorithms are the following ones: radial basis functions network (RBFN), local model network (LMN), SOMbased local linear mapping (LLM), local linear mapping over k-winners (K-SOM), local weighted regression (LWR) and counter propagation (CP). Each algorithm is evaluated with respect to its accuracy in estimating the joint angles given the cartesian coordinates which comprise end-effector trajectories within the robot workspace. A comprehensive evaluation of the performances of the aforementioned algorithms is carried out based on correlation analysis of the residuals. Finally, hypothesis testing procedures are also executed in order to verifying if there are significant differences in performance among the best algorithms.<br>Nesta dissertaÃÃo sÃo reportados os resultados de um amplo estudo comparativo envolvendo seis modelos locais aplicados à tarefa de aproximaÃÃo do modelo cinemÃtico inverso de 3 robÃs manipuladores (planar, PUMA 560 e Motoman HP6). Os modelos avaliados sÃo os seguintes: rede de funÃÃes de base radial (RBFN), rede de modelos locais (LMN), mapeamento linear local baseado em SOM (LLM), mapeamento linear local usando K vencedores (KSOM), regressÃo local ponderada (LWR) e rede counterpropagation (CP). Estes algoritmos sÃo avaliados quanto à acurÃcia na estimaÃÃo dos Ãngulos das juntas dos robÃs manipuladores em experimentos envolvendo a geraÃÃo de vÃrios tipos de trajetÃrias no espaÃo de trabalho dos referidos robÃs. Uma avaliaÃÃo abrangente do desempenho de cada algoritmo à feita com base na anÃlise dos resÃduos e testes de hipÃteses sÃo realizados para verificar a semelhanÃa estatistica entre os desempenhos dos melhores algoritmos.
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Books on the topic "Inverse kinematics of redundant manipulators"

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Naccarato, Frank. Inverse kinematics of variable-geometry truss manipulators. [s.n.], 1991.

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Naccarato, Frank. Inverse kinematics of variable-geometry truss manipulators. Wiley, 1991.

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Groothuizen, R. J. P. Predesign of a simulator for inverse robot kinematics. National Aerospace Laboratory, 1991.

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Zhen-Lei, Zhou, and Goddard Space Flight Center, eds. Position control of redundant manipulators using an adaptive error-based control scheme. Catholic University of America, Dept. of Electrical Engineering, 1990.

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Zhen-Lei, Zhou, and Goddard Space Flight Center, eds. Position control of redundant manipulators using an adaptive error-based control scheme. Catholic University of America, Dept. of Electrical Engineering, 1990.

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The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis. National Aeronautics and Space Administration, Langley Research Center, 1992.

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Jin, Long, Shuai Li, and Mohammed Aquil Mirza. Kinematic Control of Redundant Robot Arms Using Neural Networks. Wiley & Sons, Incorporated, John, 2019.

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Jin, Long, Shuai Li, and Mohammed Aquil Mirza. Kinematic Control of Redundant Robot Arms Using Neural Networks. Wiley & Sons, Incorporated, John, 2019.

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Jin, Long, Shuai Li, and Mohammed Aquil Mirza. Kinematic Control of Redundant Robot Arms Using Neural Networks. Wiley & Sons, Incorporated, John, 2019.

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Jin, Long, Shuai Li, and Mohammed Aquil Mirza. Kinematic Control of Redundant Robot Arms Using Neural Networks. Wiley & Sons, Incorporated, John, 2019.

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Book chapters on the topic "Inverse kinematics of redundant manipulators"

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Novaković, Zoran R., and Bruno Siciliano. "A New Second-Order Inverse Kinematics Solution for Redundant Manipulators." In Advances in Robot Kinematics. Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_46.

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Chhabra, Anirudh, Sathya Karthikeyan, Daegyun Choi, and Donghoon Kim. "Fuzzy Logic-Aided Inverse Kinematics Control for Redundant Manipulators." In Fuzzy Information Processing 2023. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-46778-3_6.

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Habekost, Jan-Gerrit, Erik Strahl, Philipp Allgeuer, Matthias Kerzel, and Stefan Wermter. "CycleIK: Neuro-inspired Inverse Kinematics." In Artificial Neural Networks and Machine Learning – ICANN 2023. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-44207-0_38.

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AbstractThe paper introduces CycleIK, a neuro-robotic approach that wraps two novel neuro-inspired methods for the inverse kinematics (IK) task—a Generative Adversarial Network (GAN), and a Multi-Layer Perceptron architecture. These methods can be used in a standalone fashion, but we also show how embedding these into a hybrid neuro-genetic IK pipeline allows for further optimization via sequential least-squares programming (SLSQP) or a genetic algorithm (GA). The models are trained and tested on dense datasets that were collected from random robot configurations of the new Neuro-Inspired COLlaborator (NICOL), a semi-humanoid robot with two redundant 8-DoF manipulators. We utilize the weighted multi-objective function from the state-of-the-art BioIK method to support the training process and our hybrid neuro-genetic architecture. We show that the neural models can compete with state-of-the-art IK approaches, which allows for deployment directly to robotic hardware. Additionally, it is shown that the incorporation of the genetic algorithm improves the precision while simultaneously reducing the overall runtime.
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Wang, Yunfeng, and Gregory S. Chirikjian. "A Divide-and-Conquer Method for Inverse Kinematics of Hyper-Redundant Manipulators." In Advances in Robot Kinematics. Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_43.

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Morasso, Cristian, Daniele Meli, Yann Divet, Salvatore Sessa, and Alessandro Farinelli. "Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK." In Springer Proceedings in Advanced Robotics. Springer Nature Switzerland, 2024. https://doi.org/10.1007/978-3-031-76424-0_35.

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Satish Chembuly, V. V. M. J., and Hari K. Voruganti. "Inverse Kinematics and Trajectory Planning of Planar Redundant Manipulators in Cluttered Workspace." In Lecture Notes in Mechanical Engineering. Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-32-9931-3_44.

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Zhang, Yunong, Liangyu He, Jingyao Ma, Ying Wang, and Hongzhou Tan. "Inverse-Free Scheme of G1 Type to Velocity-Level Inverse Kinematics of Redundant Robot Manipulators." In Advances in Neural Networks – ISNN 2015. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25393-0_12.

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Dužanec, D., S. Gĩumac, Z. Kovačić, and M. Pavčević. "Evaluation of Microgenetic and Microimmune Algorithms for Solving Inverse Kinematics of Hyper-redundant Robotic Manipulators On-line." In Adaptive Control for Robotic Manipulators. CRC Press, 2016. http://dx.doi.org/10.1201/9781315166056-17.

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Ferrentino, Enrico, and Pasquale Chiacchio. "Topological Analysis of Global Inverse Kinematic Solutions for Redundant Manipulators." In ROMANSY 22 – Robot Design, Dynamics and Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_10.

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Burdick, Joel W. "On the Inverse Kinematics of Redundant Manipulators: Characterization of the Self-Motion Manifolds." In Advanced Robotics: 1989. Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-83957-3_3.

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Conference papers on the topic "Inverse kinematics of redundant manipulators"

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Bai, Jiahui, Junjun Li, and Mengjie Wang. "An Efficient Artificial Bee Colony Algorithm for Analytical Inverse Kinematics of Redundant Manipulator." In 2024 7th International Conference on Intelligent Robotics and Control Engineering (IRCE). IEEE, 2024. http://dx.doi.org/10.1109/irce62232.2024.10739841.

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Li, Jinjie, Wenjie Wang, Shuaixiu Wang, et al. "Inverse kinematics of 7-DOF Redundant Manipulator Based on Improved Dung Beetle Optimization Algorithm." In 2024 10th International Conference on Mechanical and Electronics Engineering (ICMEE). IEEE, 2024. https://doi.org/10.1109/icmee63700.2024.11025244.

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Schuetz, Christoph, Thomas Buschmann, Joerg Baur, Julian Pfaff, and Heinz Ulbrich. "Predictive online inverse kinematics for redundant manipulators." In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014. http://dx.doi.org/10.1109/icra.2014.6907600.

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Perreault, Louis, and Clément M. Gosselin. "Inverse Kinematics of Serial Redundant Manipulators With Locked Articulations." In ASME 1995 Design Engineering Technical Conferences collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium. American Society of Mechanical Engineers, 1995. http://dx.doi.org/10.1115/detc1995-0130.

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Abstract This paper presents an algorithm for the solution of the inverse kinematics of a serial redundant manipulator with one (or more) locked joint(s). To this end, a general procedure is developed for the determination of the equivalent Denavit-Hartenberg parameters of a serial manipulator with locked joints. This procedure can be applied to any serial architecture. The solution of the inverse kinematic problem for the three cases which can arise is then addressed. An example of the application of the method to a SARCOS 7-DOF manipulator is also given.
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Vande Weghe, Mike, Dave Ferguson, and Siddhartha S. Srinivasa. "Randomized path planning for redundant manipulators without inverse kinematics." In 2007 7th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2007). IEEE, 2007. http://dx.doi.org/10.1109/ichr.2007.4813913.

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Yahya, Samer, Haider A. F. Mohamed, M. Moghavvemi, and S. S. Yang. "A geometrical inverse kinematics method for hyper-redundant manipulators." In 2008 10th International Conference on Control, Automation, Robotics and Vision (ICARCV). IEEE, 2008. http://dx.doi.org/10.1109/icarcv.2008.4795829.

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Sinha, Anirban, and Nilanjan Chakraborty. "Computing Robust Inverse Kinematics Under Uncertainty." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97945.

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Abstract Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inherent actuation errors in joint space, robots cannot achieve desired configurations in task space exactly. Furthermore, different inverse kinematics (IK) solutions map joint space error set to task space differently. Thus for a given task with a prescribed error tolerance, all IK solutions will not be guaranteed to successfully execute the task. Any IK solution that is guaranteed to execute a task (possibly with high probability) irrespective of the realization of the joint space error is called a robust IK solution. In this paper we formulate and solve the robust inverse kinematics problem for redundant manipulators with actuation uncertainties (errors). We also present simulation and experimental results on a 7-DoF redundant manipulator for two applications, namely, a pre-grasp positioning and a pre-insertion positioning scenario. Our results show that the robust IK solutions result in higher success rates and also allows the robot to self-evaluate how successful it might be in any application scenario.
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Xu, Li-Ju, and Jiang Wu. "The Kinematics of Redundant Tetrahedron Based Variable Geometry Truss Manipulators Based on Neural Network." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14212.

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Abstract The forward displacement analysis of redundant tetrahedron based variable geometry truss manipulators is obtained based on BP neural network, and then a solution to inverse displacement analysis problem is obtained. According to the above network model, the first- and second-order influence coefficients are derived, and the pseudo-inverse of Jacobian matrix is obtained by using a neural network. Finally the simulation calculation of kinematics for a seven celled tetrahedron-tetrahedron variable geometry truss manipulator is given for illustration.
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Asl, Farshid Maghami, Hashem Ashrafiuon, and C. Nataraj. "Analysis of Hyper-Redundant Manipulators." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/vib-8222.

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Abstract A new approach to solve the inverse kinematic problem for hyper-redundant planar manipulators following any desired path is presented. The method is singularity free and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers and dividing them into virtual/real three-link or four-link sub-robots. It starts by solving the inverse kinematic problem for the sub-robot located in the lowest virtual layer, which is then used to solve the inverse kinematic equations for the sub-robots located in the upper virtual layers. An algorithm is developed which provides a singularity-free solution up to full extension through a configuration index. The configuration index can be interpreted as the average of the determinants of the Jacobians of the sub-robots. The equations for the velocities and accelerations of the manipulator are solved by extending the same approach where it is realized that the value of configuration index is critical in maintaining joint velocity continuity. The inverse dynamic problem of the robot is also solved to obtain the torques required for the robot actuators to accomplish its task. Computer simulations of several hyper-redundant manipulators using the proposed method are presented as numerical examples.
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Dong, Hui, Taosha Fan, Zhijiang Du, and Gregory Chirikjian. "Inverse Kinematics of Discretely Actuated Ball-Joint Manipulators Using Workspace Density." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46803.

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We present a workspace-density-based (WSDB) method to solve the inverse kinematics of discretely actuated ball-joint manipulators. Intuitively speaking, workspace density measures the flexibility of a robotic manipulator when the end-effector is fixed at a certain pose or position. We use the SE(3) Fourier transform to derive the workspace density for ball-joint manipulators and show that the workspace density has a concise and elegant form. Then we show that the state for each joint is determined by maximizing the workspace density of subsequent sub-manipulators. We demonstrate our method with several numerical examples. In particular, we show that our method can provide a solution that approximately minimizes the deviation of the end-effector and its computational complexity is linear with respect to the number of joints. Hence our method is very efficient in solving the inverse kinematics of redundant discretely actuated ball-joint manipulators. In addition, we prove that the solution space of our method is reduced from the rotation group SO(3) to a one-dimensional interval.
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Reports on the topic "Inverse kinematics of redundant manipulators"

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Unseren, M. A. Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics. Office of Scientific and Technical Information (OSTI), 1993. http://dx.doi.org/10.2172/10151739.

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Unseren, M. A. Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics. Office of Scientific and Technical Information (OSTI), 1993. http://dx.doi.org/10.2172/6579230.

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Unseren, M. A. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 2, The optimization of a secondary criteria involving self motion of the joints. Office of Scientific and Technical Information (OSTI), 1995. http://dx.doi.org/10.2172/89523.

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Unseren, M. A., and D. B. Reister. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 1, On the orthogonality of matrices B and J and comparison to the extended Jacobian method. Office of Scientific and Technical Information (OSTI), 1995. http://dx.doi.org/10.2172/91980.

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Hacker, C. J., G. A. Fries, and F. G. Pin. Inverse kinematics of redundant systems driver IKORv1.0-2.0 (full space parameterization with orientation control, platform mobility, and portability). Office of Scientific and Technical Information (OSTI), 1997. http://dx.doi.org/10.2172/304121.

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