Work

Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints

Year: 2010

Type: article

Abstract: This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming that the forward kinematics are known and that it is possible to solve for the remaining joint angles if one joint angle’s value is known. With a fast numerical method and the current levels of computing power, designing a manipulator with closed-form inverse kinematics is no longer necessary. When designing the C-arm, we therefore chose to weigh other factors, such as actuator size and patient safety, more heavily than the ability to find a closed-form inverse kinematics solution.

Source: Applied Bionics and Biomechanics

DOI: 10.1080/11762322.2010.503109

Authors: Diana C. W. Friedman, Tim Kowalewski, Radivoje Jovanovic, Jacob Rosen, Blake Hannaford

Institutions: University of Washington, University of California, Santa Cruz

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,840

Funders: Defense Advanced Research Projects Agency, U.S. Army, Telemedicine and Advanced Technology Research Center