2P1-F07 Unilateral Control System for Robot Arm with Position-Orientation Sensor Device(Robotics & Mechatronics in Hyper Environment)

Abstract

This paper approaches a unilateral control system to operate a robot arm by using a position-orientation sensor device. The control needs a numerical inverse kinematics algorithm with short computation time. Authors discuss the real time Levenberg-Marquardt algorithm which can cope with the problems such as singular points, restrictions of joint movable range, constraints of workspace and postures of a redundant joints arm. The effectiveness of the proposed algorithm is confirmed by experiments.