Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator

Authors:
Sajid M. Ahmed;Alexander N. Pechev
Affiliations:
University of Surrey;Surrey space centre, university of surrey, UK
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

Citing 3
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Abstract

A control infrastructure for comparison of feedback inverse kinematics (FIK) with pseudo-inverse based methods is developed in this paper. The Kinematic model of Mitsubishi RV-1A, a six degree of freedom (DOF) robotic manipulator is constructed to map the Cartesian space trajectories into the joint space trajectories. The Denavit-Hartenberg (DH) parameters of this manipulator are calculated by using conventional DH parameterization approach. Cartesian space reference trajectories with and without singularity are designed for RV-1A to analyze the performance of FIK and compare it with Damped Least Square (DLS) inverse kinematics. The performance of developed FIK and DLS models is evaluated based on stability and singularity robustness.