Details of Grant 

EPSRC Reference:	GR/J10297/01
Title:	INVERSE POSITION ANALYSIS OF KINEMATICALLY REDUNDANT MANIPULATORS
Principal Investigator:	Sanger, Professor J
Other Investigators:	Kerr, Dr D
Researcher Co-Investigators:
Project Partners:
Department:	Aeronautical Mech & Manufacturing Eng
Organisation:	University of Salford
Scheme:	Standard Research (Pre-FEC)
Starts:	01 May 1993	Ends:	30 April 1996	Value (£):	84,291
EPSRC Research Topic Classifications:	Design Engineering
EPSRC Industrial Sector Classifications:
Related Grants:
Panel History:
Summary on Grant Application Form
This project aims to develop general methods of inverse position analysis of kinematically redundant serial manipulators and to demonstrate the results, using computer graphics, for representative manipulation.A kinematically redundant robotic manipulator is one which has a greater number of independently controlled inputs than is needed to describe the defined class of positioning tasks. The potential advantages of using such manipulators are manifold and include the possibility of avoiding obstacles and singularities, and of enlarging the dextrous workspace. However, solution of the inverse kinematics problem, that is evaluation of the inputs needed to produce a specified end-effector movement, for these manipulators requires the solution of an undetermined problem.Up to the present time all attempts at solving the inverse kinematics of redundant manipulators have been formulated in terms of rates, usually employing a generalised-inverse solution. This is essentially because the rate equations are linear in the input and output velocities for a given configuration, unlike the position equations which are highly non-linear. Thus, in most applications of kinematically redundant manipulators the errors inherent in the rate method have to be accepted because inverse position solutions are not available.The results of this work will thus make possible improved manipulator design and performance.
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Organisation Website:	http://www.salford.ac.uk