Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator

摘要

Position errors near and on inner kinematics singularity points are eliminated using an inverse kinematics scheme based on AC, where A is an inverse kinematics calculator followed by a limiter that limits robot motion with respect to kinematics and dynamics constraints of the total robot system, including its surrounding environment and incorporating properties such as maximum joint, velocity, acceleration and torque limits. The limiter can decrease or equalize constraint values in the neighbourhood of singularities for enhanced control stability. C is a compensator which modifies the position of the tool centre point (TCP) for the robot on the basis of A, building a transformation matrix Pout by concatenation of the position part of Pin and the rotation part of Plim.