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

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Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot. / Burrell, Thomas Ian; Montazeri, Allahyar; Monk, Stephen David et al.
MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016. 2016.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Burrell, TI, Montazeri, A, Monk, SD & Taylor, CJ 2016, Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot. in MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016. 7th IFAC Symposium on Mechatronic Systems, Loughborough, United Kingdom, 5/09/16. https://doi.org/10.1016/j.ifacol.2016.10.541

APA

Burrell, T. I., Montazeri, A., Monk, S. D., & Taylor, C. J. (2016). Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot. In MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016 https://doi.org/10.1016/j.ifacol.2016.10.541

Vancouver

Burrell TI, Montazeri A, Monk SD, Taylor CJ. Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot. In MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016. 2016 doi: 10.1016/j.ifacol.2016.10.541

Author

Burrell, Thomas Ian ; Montazeri, Allahyar ; Monk, Stephen David et al. / Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot. MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016. 2016.

Bibtex

@inproceedings{9862348510204e329a950804a0beeb49,
title = "Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot",
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.",
keywords = "Robot arms, Robot programming, Robotic equipment, Automation ",
author = "Burrell, {Thomas Ian} and Allahyar Montazeri and Monk, {Stephen David} and Taylor, {Charles James}",
year = "2016",
month = sep,
day = "5",
doi = "10.1016/j.ifacol.2016.10.541",
language = "English",
booktitle = "MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016",
note = "7th IFAC Symposium on Mechatronic Systems : 15th Mechatronics Forum International Conference ; Conference date: 05-09-2016 Through 08-09-2016",

}

RIS

TY - GEN

T1 - Feedback control-based inverse kinematics solvers for a nuclear decommissioning robot

AU - Burrell, Thomas Ian

AU - Montazeri, Allahyar

AU - Monk, Stephen David

AU - Taylor, Charles James

PY - 2016/9/5

Y1 - 2016/9/5

N2 - 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.

AB - 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.

KW - Robot arms

KW - Robot programming

KW - Robotic equipment

KW - Automation

U2 - 10.1016/j.ifacol.2016.10.541

DO - 10.1016/j.ifacol.2016.10.541

M3 - Conference contribution/Paper

BT - MECHATRONICS 2016: 7th IFAC Symposium on Mechatronic Systems & 15th Mechatronics Forum International Conference Loughborough University 5th - 8th September 2016

T2 - 7th IFAC Symposium on Mechatronic Systems

Y2 - 5 September 2016 through 8 September 2016

ER -