An Optimization Algorithm for Redundant 7R Robot

Author

Pin, Wang ; Lili, Wang ; Hong, Lu ; Qian, Dong

Author_Institution

Key Lab. of Adv. Manuf. & Autom. Technol., Ludong Univ., Yantai

Volume

1

fYear

2009

fDate

7-8 March 2009

Firstpage

920

Lastpage

924

Abstract

The optimization algorithm for redundant 7R serial robot is studied. Use Devavit-Hartenberg matrix to set up a 4 times 4 matrix form closed-form equation of the 7R robot and regard the minimum condition number of the 5 times 5 Jacobian matrix as the control indices for the given 5 constrains of the end-effector in the industry requirement. Change the two joint angles thetas₀ and thetas₃ and use Newton iteration method to approach and optimize. Seek the minimum condition number of the other five joint anglespsila Jacobian matrix to complete the redundant optimization and obtain the optimum work status. The algorithm is validated by a group of simulation data.

Keywords

Jacobian matrices; Newton method; end effectors; industrial robots; optimisation; robot kinematics; Devavit-Hartenberg matrix; Jacobian matrix; Newton iteration method; closed-form equation; end-effector; optimization algorithm; redundant 7R robot; Educational robots; Educational technology; Instruments; Jacobian matrices; Kinematics; Manufacturing automation; Optimization methods; Robot control; Robotics and automation; Service robots; Jacobian Matrix; Kinematical Optimization; Minimum Condition Number; Newton Iteration Method;

fLanguage

English

Publisher

ieee

Conference_Titel

Education Technology and Computer Science, 2009. ETCS '09. First International Workshop on

Conference_Location

Wuhan, Hubei

Print_ISBN

978-1-4244-3581-4

Type

conf

DOI

10.1109/ETCS.2009.209

Filename

4958913