Comparative analysis for the inverse kinematics of redundant manipulators based on repetitive tracking tasks

Author

Wang, Jingguo ; Li, Yangmin

Author_Institution

Dept. of Electromech. Eng., Univ. of Macau, Macau, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

164

Lastpage

169

Abstract

Considering the redundant degree of freedom (DoF) of open loop kinematic chain, the closed-loop inverse kinematics algorithm (CLIK) via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given and the constraints of joint limits are applied to modify the null space in order for some optimized solutions. The repetitive trajectories are tracked in the simulations made on the 3-DoF planar and 4-DoF spatial manipulators respectively and two optimization methods with joint limits avoidance are considered. The simulation results verify the effectiveness of the proposed algorithm and provide detailed comparative analysis among different methods and cases.

Keywords

closed loop systems; end effectors; manipulator kinematics; open loop systems; optimisation; position control; redundant manipulators; tracking; closed-loop inverse kinematics algorithm; end-effector joint trajectory; open loop kinematic chain; optimization method; pseudoinverse method; redundant degree-of-freedom; redundant manipulator inverse kinematics; repetitive tracking task; spatial manipulator; Algorithm design and analysis; Automation; Jacobian matrices; Kinematics; Manipulator dynamics; Null space; Optimization methods; Orbital robotics; Robots; Trajectory; Redundant manipulator; closed-loop algorithm; joint limit avoidance; objective function; repetitive tracking task;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262950

Filename

5262950