A complete solution to the inverse kinematics problem for a large class of practical manipulators,
which includes manipulators with no closed form inverse kinematics equations, is presented in this
thesis. A complete solution to the inverse kinematics problem of a manipulator is defined as a method
for obtaining the required joint variable values to establish the desired endpoint position, endpoint
orientation, and manipulator configuration; the only requirement being that the desired solution
exists. For all manipulator geometries that satisfy a set of conditions (THEOREM I), an algorithm
is presented that is theoretically guaranteed to always converge to the desired solution (if it exists).
The algorithm is extensively tested on two complex 6 degree of freedom manipulators which have no
known closed form inverse kinematics equations. It is shown that the algorithm can be used in real
time manipulator control. Applications of the method to other 6 DOF manipulator geometries and to
redundant manipulators are discussed. / Applied Science, Faculty of / Electrical and Computer Engineering, Department of / Graduate
| Identifer | oai:union.ndltd.org:UBC/oai:circle.library.ubc.ca:2429/42018 |
| Date | January 1990 |
| Creators | Grudić, Gregory Z. |
| Publisher | University of British Columbia |
| Source Sets | University of British Columbia |
| Language | English |
| Detected Language | English |
| Type | Text, Thesis/Dissertation |
| Rights | For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use. |
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