Application of optimal damped least-squares method to inverse kinematics of robotic manipulators

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dc.contributor.advisorWalker, Ian D.en_US
dc.creatorDeo, Arati Sureshen_US
dc.date.accessioned2009-06-04T00:43:46Zen_US
dc.date.available2009-06-04T00:43:46Zen_US
dc.date.issued1991en_US
dc.description.abstractInverse kinematics for redundant robotic manipulators is typically computed using the pseudoinverse of the manipulator Jacobian. Though the pseudoinverse yields the most accurate minimum-norm joint velocity vector, it fails to prevent high joint velocities when the manipulator is in the neighborhood of singularities. The Singularity Robust Inverse (SRI), which arises from the Damped Least-Squares technique proves to be a better inverse kinematic solution than the pseudoinverse near singular configurations. The SRI computes damped joint velocities but causes some deviation of the end-effector from its planned trajectory. The SRI performs most satisfactorily when the damping factor, which represents the trade-off between the accuracy and feasibility of the computed solution is calculated optimally, i.e. it yields minimum deviation of the end-effector while ensuring the feasibility of the joint velocities at all points in the manipulator workspace. This work introduces a new method of computing the optimal damping factor. The SRI can also be used to optimize another sub-task criterion in addition to performing the main motion task and avoiding high joint velocities at singularities.en_US
dc.format.extent85 p.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.callnoThesis E.E. 1991 Deoen_US
dc.identifier.citationDeo, Arati Suresh. "Application of optimal damped least-squares method to inverse kinematics of robotic manipulators." (1991) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13522">https://hdl.handle.net/1911/13522</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/13522en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectElectronicsen_US
dc.subjectElectrical engineeringen_US
dc.titleApplication of optimal damped least-squares method to inverse kinematics of robotic manipulatorsen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentElectrical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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