System for determining manipulator coordinates
AssigneeThe University of British Columbia
InventorsGregory Z. Grudic, Peter D. Lawrence
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Abstract
An inverse kinematics method of determining joint variables for a manipulator is obtained by forming a model by modifying offset values of a selected arm segments of the manipulator to define a model for which it is possible to derive closed-form inverse kinematics equations for solving the joint variables for said model, developing from said closed-form inverse kinematics equations a system of not more than 3 non-linear equations in not more than 3 unknowns which when solved give an inverse kinematics solution for the model, solving the system of at most 3 non-linear equations to provide the inverse kinematic solution for said manipulator to determine its joint variables.
Claims20
A method of controlling a manipulator having arm segments interconnected by joints, comprising modifying offset values of selected of said arm segments to define a model of said manipulator for which it is possible to derive closed-form inverse kinematics equations for solving the joint variables for said model, deriving closed-form inverse kinematics equations for said model, developing from said derived closed-form inverse kinematics equations a system of not more than 3 non-linear equations in not more than 3 unknowns which when solved give an inverse kinematics solution for the model, solving said system of not more than 3 non-linear equations to calculate the inverse kinematic solution for said joint variables of said model, and adjusting said joints of said manipulator to correspond with said joint variables calculated for said model.
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