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  • burrell

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Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot

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Published
Publication date5/09/2016
Host publicationMECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016
Original languageEnglish
Event7th IFAC Symposium on Mechatronic Systems: 15th Mechatronics Forum International Conference - Loughborough, United Kingdom
Duration: 5/09/20168/09/2016

Conference

Conference7th IFAC Symposium on Mechatronic Systems
CountryUnited Kingdom
CityLoughborough
Period5/09/168/09/16

Conference

Conference7th IFAC Symposium on Mechatronic Systems
CountryUnited Kingdom
CityLoughborough
Period5/09/168/09/16

Abstract

The article develops two novel feedback control-based Inverse Kinematics (IK) solvers. They are evaluated for a dual-manipulator mobile robotic system with application to nuclear decommissioning. The first algorithm has similarities to other feedback control based solvers, and borrows ideas from the Cyclic Coordinate Decent and the Jacobian Transpose methods. This yields a particularly straightforward algorithm with tunable Proportional-Integral-Derivative (PID) gains to determine performance. The second approach utilises a discrete-time state space modelling framework to solve the IK problem. Although the second solver is more complex to implement, preliminary simulation results for the case study example, show that it can converge quicker, and has improved immunity to the kinematic singularities that can occur in Jacobian based methods.