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Climbing and Walking Robots Conference

CLAWAR 2021: Robotics for Sustainable Future pp 24–36Cite as

Continuous Inverse Kinematics in Singular Position

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Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 324))

Abstract

The problem of calculating inverse kinematics of a robotic manipulator is known to be non-trivial and not straightforward to solve for centuries. Hence, multiple different approaches have been developed, extended, and further developed that iteratively approximate toward a suitable solution. Unfortunately, all these existing solutions share the problem to get unreliable in singular positions – a standard configuration of human legs, e.g. when standing. Within this work, a simple extension to the iterative Damped Least Square algorithm is presented that covers the problematic, singular configuration case. The proposed algorithm is thereby focusing on continuous solving of small, iterative pose changes.

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Author information

Authors and Affiliations

  1. Department of Computer Science, Technische Universität Kaiserslautern, 67663, Kaiserslautern, Germany

    Patrick Vonwirth & Karsten Berns

Authors
  1. Patrick Vonwirth
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  2. Karsten Berns
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Corresponding author

Correspondence to Patrick Vonwirth .

Editor information

Editors and Affiliations

  1. Department of Engineering, Kwansei Gakuin University, Hyogo, Japan

    Daisuke Chugo

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Chuo University, Bunkyo-ku, Tokyo, Japan

    Taro Nakamura

  5. School of Engineering, University of Lincoln, Lincolnshire, UK

    Khaled Goher

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Vonwirth, P., Berns, K. (2022). Continuous Inverse Kinematics in Singular Position. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_3

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