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Applicability analysis of generalized inverse kinematics algorithms with respect to manipulator geometric uncertainties
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0002-4032-4830
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0001-8679-8049
2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 2813-2820Conference paper, Published paper (Refereed)
Abstract [en]

Accurate kinematic models and measurements are needed in many robotic applications. However uncertainties related to joint angle measurements and manipulator geometry are unavoidable, especially when grasping and using different tools or when we do not have access to an accurate robot model, e.g. when we construct a robotic system by hand. The generalized inverse kinematics methods are not applicable when a manipulator stay inside its singular region. We derive the upper bounds on the joint measurement errors and geometric uncertainties, in order to guarantee that the open-chain serial manipulators stay outside the singular region. These bounds in other words enable en effective execution of generalized inverse kinematics methods for a robotic system which is prone to geometric uncertainties. In addition to the analytic derivation, We validate the proposed bounds through a trajectory tracing task performed by a PR2 robot simulator.

Place, publisher, year, edition, pages
IEEE , 2017. p. 2813-2820
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225805ISI: 000426978202137Scopus ID: 2-s2.0-85041957414ISBN: 978-1-5386-2682-5 (print)OAI: oai:DiVA.org:kth-225805DiVA, id: diva2:1196070
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Note

QC 20180409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2018-04-09Bibliographically approved

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Wang, YuquanWang, Lihui

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf