Conference proceeding
On the solution to the inverse kinematic problem
Proceedings., IEEE International Conference on Robotics and Automation, v 3, pp 1692-1697
1990
Abstract
A nonalgorithmic method is presented for the solution to the inverse kinematic problem of a robot. The method is robot independent and involves a hybrid approach whereby a neural solution is augmented with an iterative procedure which provides the final solution within some specified tolerance. Essentially, the neural solution is similar to a lookup table in providing a good initial guess to a classical iterative search. It has been found that for the industrial manipulator PUMA 560, the proposed hybrid method achieves about a twofold increase in computational efficiency with better uniformity of the time required to obtain the solution to the robotic manipulator.< >
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Details
- Title
- On the solution to the inverse kinematic problem
- Creators
- Z Ahmad - Drexel UniversityA Guez - Drexel University
- Publication Details
- Proceedings., IEEE International Conference on Robotics and Automation, v 3, pp 1692-1697
- Conference
- IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Number of pages
- 1
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Other Identifier
- 991019182762404721