Topological Analysis of Global Inverse Kinematic Solutions for Redundant Manipulators View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2019

AUTHORS

Enrico Ferrentino , Pasquale Chiacchio

ABSTRACT

The sub-optimality of redundant manipulators inverse kinematics solutions deriving from calculus of variations is discussed through some considerations of topology. This paper clarifies the relations of homotopy linking together, on one hand, self-motion manifolds and, on the other, joint space paths. With an example, it proves that the sub-optimality does not depend on the homotopy classes of self-motions but is linked to both the presence of distinct self-motions and the existence of different homotopy classes of joint space paths. This paper also clarifies the notion of pre-image of a workspace path, showing that more complex surfaces than deformed tori can be generated in the Cartesian configuration space depending on some topological properties of the path. More... »

PAGES

69-76

Book

TITLE

ROMANSY 22 – Robot Design, Dynamics and Control

ISBN

978-3-319-78962-0
978-3-319-78963-7

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-319-78963-7_10

DOI

http://dx.doi.org/10.1007/978-3-319-78963-7_10

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1104117318


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