Abstract

This paper presents an adaptive algorithm for solving the inverse kinematics problem for robot manipulators. The algorithm is derived using Model Reference Adaptive Control (MRAC) theory, and is computationally efficient for on-line applications. The proposed scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven DOF Robotics Research arm, and demonstrate that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.