Inverse kinematics by numerical and analytical cyclic coordinate descent

Robotica

Volumn 29, Issue 4, 2011, Pages 619-626

  Olsen, Anders Lau ^a   Petersen, Henrik Gordon ^a  

^a UNIVERSITY OF SOUTHERN DENMARK   (Denmark)

Author keywords

Coupled joints; Cyclic coordinate descent; Inverse kinematics

Indexed keywords

CCD-METHOD; COUPLED JOINTS; CYCLIC COORDINATE DESCENT; CYCLIC COORDINATE DESCENTS; PARAMETER SETTING; PRISMATIC JOINT;

COST FUNCTIONS; ECHO SUPPRESSION; MANIPULATORS; NUMERICAL METHODS;

INVERSE KINEMATICS;

EID: 79958839828     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S026357471000038X     Document Type: Article

References (22)

1. J. J. Craig, Introduction to Robotics: Mechanics and Control, 2. ed. (Addison-Wesley Publishing Company, Reading, MA, 1989).
2. D. Manocha and Y. Zhu, "A fast algorithm and system for the inverse kinematics of general serial manipulators", IEEE Int. Conf. Robot. Autom. 4, 3348-3353 (1994).
3. D. Tolani, A. Goswami and N. I. Badler, "Real-time inverse kinematics techniques for anthropomorphic limbs", Graph. Models Image Process. 62, 353-388 (2000).
4. S. Z. Xin, L. Y. Feng, H. L. Bing and Y. T. Li, "A simple method for inverse kinematic analysis of the general 6R serial robot", ASME J. Mech. Des. 129, 793-798 (2007). (Pubitemid 47316484)
5. L. Han and N. M. Amato, "A Kinematics-based Probabilistic Roadmap Method for Closed Chain Systems", Workshop on Algorithmic Foundations of Robotics, Hanover, NH (2000) pp. 233-246.
6. D. E. Whitney, "Resolved motion rate control of manipulators and human protheses", IEEE Trans. Man-Mach. Syst. 10(2), 49-53 (1969).
7. J. Angeles, "On the numerical solution of the inverse kinematic problem", Int. J. Robot. Res. 4(2), 21-37 (1985). (Pubitemid 15528284)
8. C. W. Wampler, "Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods", IEEE Trans. Syst. Man Cybern. 16(1), 93-101 (1986).
9. W. A. Wolovich and H. Elliott, "A computational technique for inverse kinematics", IEEE Conf. Decis. Control 23, 1359-1363 (1984).
10. K. W. Chin, B. R. von Konsky and A. Marriott, "Closed-form and generalized inverse kinematics solutions for the analysis of human motion", Int. Conf. IEEE Eng. Med. Bio. Soc. 5, 1911-1914 (1997).
11. J. Llinares and A. Page, "Position analysis of spatial mechanisms", ASME J. Mech. Trans. Autom. Des. 106, 252-255 (1984).
12. K. Kazerounian, "On the numerical inverse kinematics of robotic manipulators", ASME J. Mech. Trans. Autom. Des. 109, 8-13 (1987). (Pubitemid 17555008)
13. L.-C. T. Wang and C. C. Chen, "A combined optimization method for solving the inverse kinematics problems of mechanical manipulators", IEEE Trans. Robot. Autom. 7, 489-499 (1991).
14. J. M. Ahuactzin and K. Gupta, "A motion planning based approach for inverse kinematics of redundant robots: The kinematic roadmap", IEEE Int. Conf. Robot. Autom. 4, 3609-3614 (1997).
15. S. Regnier, F. B. Ouezdou and P. Bidaud, "Distributed method for inverse kinematics of all serial manipulators", Mech. Mach. Theory 32, 855-867 (1997). (Pubitemid 127403428)
16. P. J. From and J. T. Gravdahl, "General Solutions to Functional and Kinematic Redundancy", IEEE Conference on Decision and Control, New Orleans, LA (2007) pp. 5779-5786. (Pubitemid 351278061)
17. S. R. Buss, "Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares Methods", April 2004. Available at online: http://math. ucsd.edu/~sbuss/ResearchWeb.
18. J. Nocedal and S. J. Wright, Numerical Optimization, 2nd ed. (Springer Series in Operations Research and Financial Engineering, Springer, New York, 2006).
19. J.-C. Latombe, Robot Motion Planning (Kluwer Academic, Boston, MA, 1991).
20. J. Barraquand and J.-C. Latombe, "Robot motion planning: A distributed representation approach", Int. J. Robot. Res. 10, 628-649 (1991).
21. X. Zhao and S. Peng, "A successive approximation algorithm for the inverse position analysis of the serial manipulators", Robotica 17(6), 487-489 (1999). (Pubitemid 30509158)
22. P. Leven and S. Hutchinson, "A framework for real-time path planningin changing environments", Int. J. Robot. Res. 21(12), 999-1030 (2002).