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Seminar on Cybernetics and Robotics no. 1219

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(Department seminar no. 86)

Time: November 29th, 2018, 11:15
Place: room 208 C-3

 

Speaker: Ignacy Dulęba

Subject: Acceleration of the Newton's algorithm of inverse manipulator kinematics

I will derive two methods to reduce the computational complexity of the Newton algorithm, assuming the existence of an error in the approximation of manipulability matrix. The methods utilize well-known elementary mathematical facts and ideas and they will be illustrated with examples for planar n-pendulums. The seminar is based on a work presented during MMAR this year, but it contains more details.