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Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the …
A Comparison Study Of The Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
A Comparison Study Of The Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
Differential kinematic has a wide range application area in robot kinematics. The main advantage of the differential kinematic is that it can be easily implemented any kind of mechanisms. In differential kinematic method, Jacobian is used as a mapping operator in the velocity space. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Thus, the performances of the numerical integration methods affect the trajectory tracking application. This paper compares the performances of numerical …