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Inverse kinematics dynamical system

Created Montag 02 Mai 2016

Concept


Wolovich et. al. introduced a computational method to perform inverse kinematics. The method is called inverse kinematics dynamical system and is described as follows:


./wolovich.odg

To summarize, it actualy works as illustrated in the picture below. As shown in the picture, a spring and a damper is attached to the end-effector of the robot. Thus, the robot's end-effector moves incrementally to desired position.

,

Implementation


Download this file. Run: computational_ikine.m.


Red point is the target position. ↑

References


  1. A. Wolovich and H. Elliott. A computational technique for inverse kinematics. The 23rd IEEE Conference on Decision and Control, 23:1359–1363, 1984.