%0 Conference Paper %1 Guenther_et_al07:COBEM07 %A Guenther, Raul %A da. Cruz, Daniel F. M. %A Martins, Daniel %A Simas, Henrique %B Proceedings 19th International Congress of Mechanical Engineering - COBEM %C Brasilia - DF %D 2007 %K imported %T A new integration method for differential inverse kinematics of closed-chain robots %X Inverse kinematics algorithms based on numerical integration involves drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from the desired one. This problem is worse for robots with closed kinematic chains, where minimal errors open the chain or generate excessive torques at the joints. To solve this problem, a novel integration method is presented in this paper, and its exponential stability is showed. An simulation example outlines its main properties. %Z Submitted

@inproceedings{Guenther_et_al07:COBEM07, abstract = {Inverse kinematics algorithms based on numerical integration involves drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from the desired one. This problem is worse for robots with closed kinematic chains, where minimal errors open the chain or generate excessive torques at the joints. To solve this problem, a novel integration method is presented in this paper, and its exponential stability is showed. An simulation example outlines its main properties.}, added-at = {2008-03-02T02:12:02.000+0100}, address = {Brasilia - DF}, annote = {Submitted}, author = {Guenther, Raul and da. Cruz, Daniel F. M. and Martins, Daniel and Simas, Henrique}, biburl = {https://www.bibsonomy.org/bibtex/25e2f3c1753763581cde95165238c2f48/dmartins}, booktitle = {Proceedings 19th International Congress of Mechanical Engineering - COBEM}, description = {robotica-bib}, interhash = {564f1b1ea8c2327e9cba2bf200c181ed}, intrahash = {5e2f3c1753763581cde95165238c2f48}, keywords = {imported}, timestamp = {2008-03-02T02:13:00.000+0100}, title = {A new integration method for differential inverse kinematics of closed-chain robots}, year = 2007 }