Kinematic Synthesis of a Serial Robotic Manipulator by Using Generalized Differential Inverse Kinematics

Shouhei Shirafuji, Jun Ota
2019 IEEE Transactions on robotics  
In this paper, we propose an optimization method to determine the design parameters comprising joint displacement parameters in a serial manipulator having small degrees of freedom realizing an approximated target trajectory. Using generalized differential kinematics, we can achieve efficient optimization without solving the inner-loop optimization required to obtain the reachable points. Index Terms-Kinematic synthesis, generalized differential inverse kinematics, optimization of design, serial manipulator. Manuscript
doi:10.1109/tro.2019.2907810 fatcat:5i3ehbrrdnfv5ndnzozjkzg2eu