EPSRC Reference: 
GR/J10297/01 
Title: 
INVERSE POSITION ANALYSIS OF KINEMATICALLY REDUNDANT MANIPULATORS 
Principal Investigator: 
Sanger, Professor J 
Other Investigators: 

Researcher CoInvestigators: 

Project Partners: 

Department: 
Aeronautical Mech & Manufacturing Eng 
Organisation: 
University of Salford 
Scheme: 
Standard Research (PreFEC) 
Starts: 
01 May 1993 
Ends: 
30 April 1996 
Value (£): 
84,291

EPSRC Research Topic Classifications: 

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 endeffector 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 generalisedinverse 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 nonlinear. 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.

Key Findings 
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk

Potential use in nonacademic contexts 
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk

Impacts 
Description 
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk 
Summary 

Date Materialised 


Sectors submitted by the Researcher 
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk

Project URL: 

Further Information: 

Organisation Website: 
http://www.salford.ac.uk 