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Analysis of the Performance of Reverse Kinetics of Redundant Robotic Systems Applying the Pseudoinversa

Abstract:

In this article we present applications of Mathematics, specifically Linear Algebra, in robotic engineering, we present different methods of obtaining the inverse kinematic solution of a mobile manipulator of 5 DOF, the methods used to obtain the solution are: Standard Minimum, Minimum Standard and Null Spaces, General Weighted Investments and Solution of Minimum Squares. The results of these methods are tested by a controller applied in the mobile manipulator to perform a specific task, in the analysis of the obtained results the following aspects are considered: control errors, maneuverability speeds of the mobile platform and the robotic arm, trajectories described by the operative end of the robot and the computational time of execution of the proposed control algorithm, whereby an analysis of the efficiency of the controller can be performed as a function of the method of the solution of the inverse kinematics …