Inverse kinematics of a redundant manipulator robot using constrained optimization
Redundant manipulative robots are characterized by greater manipulability improving performance but complicating inverse kinematics, on the other hand, optimization techniques allow solving complex problems in robotics applications with greater efficiency. This paper presents the inverse kinematics...
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2020
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| Online Zugang: | https://link.springer.com/chapter/10.1007/978-3-030-40690-5_23 https://hdl.handle.net/20.500.14809/3393 |
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| author | Varela-Aldás, José |
| author2 | Ayala-Chauvin, Manuel Andaluz, Víctor Santamaría, Marlon |
| author2_role | author author author |
| author_facet | Varela-Aldás, José Ayala-Chauvin, Manuel Andaluz, Víctor Santamaría, Marlon |
| author_role | author |
| collection | Repositorio Universidad Tecnológica Indoamérica |
| dc.creator.none.fl_str_mv | Varela-Aldás, José Ayala-Chauvin, Manuel Andaluz, Víctor Santamaría, Marlon |
| dc.date.none.fl_str_mv | 2020 2022-06-29T14:48:52Z 2022-06-29T14:48:52Z |
| dc.identifier.none.fl_str_mv | https://link.springer.com/chapter/10.1007/978-3-030-40690-5_23 https://hdl.handle.net/20.500.14809/3393 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Advances in Intelligent Systems and Computing. Volume 1137 AISC, Pages 233 - 242. International Conference on Information Technology and Systems, ICITS 2020. Bogota. 5 February 2020 through 7 February 2020 |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad Tecnológica Indoamérica instname:Universidad Tecnológica Indoamérica instacron:UTI |
| dc.title.none.fl_str_mv | Inverse kinematics of a redundant manipulator robot using constrained optimization |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | Redundant manipulative robots are characterized by greater manipulability improving performance but complicating inverse kinematics, on the other hand, optimization techniques allow solving complex problems in robotics applications with greater efficiency. This paper presents the inverse kinematics of a redundant manipulative robot with four degrees of freedom to track a desired trajectory, and considering constraint in manipulability. The optimization problem is proposed using the quadratic position errors of the operative end and the constraint is established by a manipulability index, for this the kinematic model of the robot is determined. The results show the points of singularity of the robot and the performance of the proposal implemented, observing the positional errors and the manipulability for each point of the trajectory. In addition, the optimization is evaluated for two desired manipulability values. Finally, it is concluded that the implemented method optimizes the inverse kinematics to track the desired path while constraining the manipulability. © Springer Nature Switzerland AG 2020. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | UTI_0fa54b1b22aadf8d01bfa41737afbeec |
| instacron_str | UTI |
| institution | UTI |
| instname_str | Universidad Tecnológica Indoamérica |
| language | eng |
| network_acronym_str | UTI |
| network_name_str | Repositorio Universidad Tecnológica Indoamérica |
| oai_identifier_str | oai:repositorio.uti.edu.ec:20.500.14809/3393 |
| publishDate | 2020 |
| publisher.none.fl_str_mv | Advances in Intelligent Systems and Computing. Volume 1137 AISC, Pages 233 - 242. International Conference on Information Technology and Systems, ICITS 2020. Bogota. 5 February 2020 through 7 February 2020 |
| reponame_str | Repositorio Universidad Tecnológica Indoamérica |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoamérica |
| repository_id_str | 0 |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by/4.0/ |
| spelling | Inverse kinematics of a redundant manipulator robot using constrained optimizationVarela-Aldás, JoséAyala-Chauvin, ManuelAndaluz, VíctorSantamaría, MarlonRedundant manipulative robots are characterized by greater manipulability improving performance but complicating inverse kinematics, on the other hand, optimization techniques allow solving complex problems in robotics applications with greater efficiency. This paper presents the inverse kinematics of a redundant manipulative robot with four degrees of freedom to track a desired trajectory, and considering constraint in manipulability. The optimization problem is proposed using the quadratic position errors of the operative end and the constraint is established by a manipulability index, for this the kinematic model of the robot is determined. The results show the points of singularity of the robot and the performance of the proposal implemented, observing the positional errors and the manipulability for each point of the trajectory. In addition, the optimization is evaluated for two desired manipulability values. Finally, it is concluded that the implemented method optimizes the inverse kinematics to track the desired path while constraining the manipulability. © Springer Nature Switzerland AG 2020.Advances in Intelligent Systems and Computing. Volume 1137 AISC, Pages 233 - 242. International Conference on Information Technology and Systems, ICITS 2020. Bogota. 5 February 2020 through 7 February 20202022-06-29T14:48:52Z2022-06-29T14:48:52Z2020info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttps://link.springer.com/chapter/10.1007/978-3-030-40690-5_23https://hdl.handle.net/20.500.14809/3393enghttps://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Universidad Tecnológica Indoaméricainstname:Universidad Tecnológica Indoaméricainstacron:UTI2022-09-05T03:29:25Zoai:repositorio.uti.edu.ec:20.500.14809/3393Institucionalhttps://repositorio.uti.edu.ec/Institución privadahttps://indoamerica.edu.ec/https://repositorio.uti.edu.ec/oai.Ecuador...opendoar:02022-09-05T03:29:25Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoaméricafalse |
| spellingShingle | Inverse kinematics of a redundant manipulator robot using constrained optimization Varela-Aldás, José |
| status_str | publishedVersion |
| title | Inverse kinematics of a redundant manipulator robot using constrained optimization |
| title_full | Inverse kinematics of a redundant manipulator robot using constrained optimization |
| title_fullStr | Inverse kinematics of a redundant manipulator robot using constrained optimization |
| title_full_unstemmed | Inverse kinematics of a redundant manipulator robot using constrained optimization |
| title_short | Inverse kinematics of a redundant manipulator robot using constrained optimization |
| title_sort | Inverse kinematics of a redundant manipulator robot using constrained optimization |
| url | https://link.springer.com/chapter/10.1007/978-3-030-40690-5_23 https://hdl.handle.net/20.500.14809/3393 |