プレコンディションを行ったヤコビ行列を用いた超冗長マニピュレータの逆運動学計算法

抄録

Redundant manipulators avail to make use of various task in complicated work environment because of the wide variety of poses to be taken for a task demand. An agile inverse kinematics calculation, however, is required for obtaining a desired manipulator poses. This paper proposes a simple method of inverse kinematics resolution for redundant manipulators. The method transforms an original inverse kinematics problem of redundant manipulator to regular and small problem, that is a simultaneous equation on a dimension of task space, by preconditions of Jacobian matrix. The result obtained by solving the simple problem is transposed again into the solution of original problem finding out the joint angle of redundant manipulator. Numerical experiences have showed that the result obtained by the proposed method is equivalence to the results solved by using of the pseudo-inverse matrix of Jacobian matrix.