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A Heuristic Approach to the Inverse Differential Kinematics Problem

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Abstract

Inversion of the kinematics of manipulators is one of the central problems in the field of robot arm control. The iterative use of inverse differential kinematics is a popular method of solving this task. Normally the solution of the problem requires a complex mathematical apparatus. It involves methods for solving equation systems as well as algorithms for optimization. In this paper we introduce a naïve heuristic method which works without the need for complex mathematical algorithms. This method forms a simple basis for the more sophisticated control procedures of our robot manipulator (JANUS).

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Authors and Affiliations

  1. German National Research Center for Computer Science (GMD), Schloß Birlinghoven, 53754, Sankt Augustin, Germany

    Uwe Beyer & Frank Śmieja

Authors
  1. Uwe Beyer
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  2. Frank Śmieja
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Beyer, U., Śmieja, F. A Heuristic Approach to the Inverse Differential Kinematics Problem. Journal of Intelligent and Robotic Systems 18, 309–327 (1997). https://doi.org/10.1023/A:1017919815338

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  • DOI: https://doi.org/10.1023/A:1017919815338

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