Publication: A new inverse kinematics algorithm for binary manipulators with many actuators
Issued Date
2001
Resource Type
Language
eng
Rights Holder(s)
VSP and Robotics Society of Japan
Bibliographic Citation
Advanced Robotics. Vol.15, No.2 (2001), 225-244
Suggested Citation
Jackrit Suthakorn, Chrikjian, Gregory S. A new inverse kinematics algorithm for binary manipulators with many actuators. Advanced Robotics. Vol.15, No.2 (2001), 225-244. Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/3359
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Title
A new inverse kinematics algorithm for binary manipulators with many actuators
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Abstract
In this paper we present a new, and extremely fast, algorithm for the inverse kinematics of
discretely actuated manipulator arms with many degrees of freedom. Our only assumption is that the
arm is macroscopicallyserial in structure, meaning that the overall structure is a serial cascade of units
with each unit having either a serial or parallel kinematic structure. Our algorithm builds on previous
works in which the authors and coworkers have used the workspace density function in a breadth-
rst search for solving the inverse kinematics problem. The novelty of the method presented here is
that only the ‘mean’ of this workspace density function is used. Hence the requirement of storing a
sampled version of the workspace density function (which is a function on a six-dimensional space
in the case of a spatial manipulator) is circumvented. We illustrate the technique with both planar
revolute and variable-geometry-trussmanipulators, and brie y describe a new manipulator design for
which this algorithm is applicable.