Abstract of Thesis presented at COPPE/UFRJ as a partial fulfillment of the requirements for the degree of Master of Science (M.Sc.)

Filtered Inverse: An Alternative Solution to Inverse Kinematics of Robotic Manipulators

Lucas Vares Vargas

March/2013

Advisors:

Ramon Romankevicius Costa Antonio Candea Leite

Department:

Eletrical Engineering

      In this work we present an alternative solution to the problem of inverse kinematics for robot manipulators based on differential kinematics and on an algorithm that calculates the inverse of the Jacobian matrix dynamically. The output of the proposed algorithm can be interpreted as a filtered inverse of the Jacobian matrix. An interesting property of the inversion algorithm is its ability to deal with the problem of kinematic singularities, also allowing the prioritization or weighting of the different control objectives and the consideration of additional constraints. The convergence and stability analysis is based on the Lyapunov stability theory. Case studies for various manipulators are presented and simulation results illustrate the performance of the proposed methodology.