{Coordinate transformation is one of the most important issues in robotic manipulator control. The aim of this paper is to propose an effective computational scheme to the inverse kinematic problem for manipulators with spherical wrists. First an insight into the formulation of kinematics is given in order to detail the general scheme for this specific class of manipulators. Algorithm convergence is then ensured by means of the Lyapunov direct method. The resulting algorithm is based on the hand position and orientation vectors usually adopted to describe motion in the task space. The analysis of the computational burden is performed by taking the Stanford arm as a reference. Finally a case study is developed via numerical simulations.

Algorithmic approach to coordinate transformation for robotic manipulators / A., Balestrino; G., De Maria; L., Sciavicco; Siciliano, Bruno. - In: ADVANCED ROBOTICS. - ISSN 0169-1864. - STAMPA. - 2:4(1988), pp. 327-344.

Algorithmic approach to coordinate transformation for robotic manipulators

SICILIANO, BRUNO
1988

Abstract

{Coordinate transformation is one of the most important issues in robotic manipulator control. The aim of this paper is to propose an effective computational scheme to the inverse kinematic problem for manipulators with spherical wrists. First an insight into the formulation of kinematics is given in order to detail the general scheme for this specific class of manipulators. Algorithm convergence is then ensured by means of the Lyapunov direct method. The resulting algorithm is based on the hand position and orientation vectors usually adopted to describe motion in the task space. The analysis of the computational burden is performed by taking the Stanford arm as a reference. Finally a case study is developed via numerical simulations.
1988
Algorithmic approach to coordinate transformation for robotic manipulators / A., Balestrino; G., De Maria; L., Sciavicco; Siciliano, Bruno. - In: ADVANCED ROBOTICS. - ISSN 0169-1864. - STAMPA. - 2:4(1988), pp. 327-344.
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/486102
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 10
  • ???jsp.display-item.citation.isi??? ND
social impact