The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg-Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.
@article{bwmeta1.element.bwnjournal-article-amcv23z2p373bwm,
author = {Ignacy Dul\k eba and Micha\l\ Opa\l ka},
title = {A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators},
journal = {International Journal of Applied Mathematics and Computer Science},
volume = {23},
year = {2013},
pages = {373-382},
zbl = {1282.93187},
language = {en},
url = {http://dml.mathdoc.fr/item/bwmeta1.element.bwnjournal-article-amcv23z2p373bwm}
}
Ignacy Dulęba; Michał Opałka. A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators. International Journal of Applied Mathematics and Computer Science, Tome 23 (2013) pp. 373-382. http://gdmltest.u-ga.fr/item/bwmeta1.element.bwnjournal-article-amcv23z2p373bwm/
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