Tracking a moving object with a 6-dof manipulator

Jean Cote; Clement M. Gosselin; Denis Laurendeau

doi:10.1117/12.141777

11 March 1993 Tracking a moving object with a 6-dof manipulator

Jean Cote, Clement M. Gosselin, Denis Laurendeau

Proceedings Volume 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics; (1993) https://doi.org/10.1117/12.141777
Event: Optical Engineering and Photonics in Aerospace Sensing, 1993, Orlando, FL, United States

Abstract

A new approach to calculate the inverse kinematic functions whose domain of solution is not limited to the manipulator's workspace is introduced. Using this approach every point in the Cartesian space leads to a real solution when used as data for the inverse kinematic problem. The solution gives the minimum distance between the end-effector and the prescribed point in the Cartesian space for a given orientation of the end-effector. The proposed inverse kinematic functions are of great interest for tracking, approach, and catching operations where the object to be reached or tracked by the manipulator is inside or outside the robot's workspace.

Citation Download Citation

Jean Cote, Clement M. Gosselin, and Denis Laurendeau "Tracking a moving object with a 6-dof manipulator", Proc. SPIE 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics, (11 March 1993); https://doi.org/10.1117/12.141777

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