On the Discrete Implementation of the Filtered Inverse Method for Serial Robots

摘要

In this paper, the filtered inverse algorithm for dynamic inversion of matrices is revisited and additional analysis regarding its discrete implementation and related gain limitations are presented. The method is used to provide a solution to the inverse kinematics of a serial redundant robot manipulator with 7-DoF for both position and orientation control. The theoretical results obtained and the performance of the discrete method are validated on a relevant robotics simulation environment that also incorporates visual perception components, such as an eye-in-hand camera and artificial markers.