Title :
Motion study of a redundant 7-DOF operation robot
Author :
Yuan, Sichen ; Zhang, Haiqing ; Wang, Nei ; Luan, Nan
Author_Institution :
Dept. of Mech. Eng., Shanghai Jiaotong Univ., Shanghai, China
Abstract :
This paper presents a new numerical method for optimizing the motion of a 7-DOF robot. To improve efficiency and reduce computational complexity, the conventional Jacobian matrix is abandoned here. The key point is to find out the most suitable redundancy joint from the seven joints and to reduce the maximum velocity of the seven joints by modifying redundancy joint angle. Simulations show the efficiency and the high computational speed of this method.
Keywords :
mobile robots; motion control; numerical analysis; optimisation; service robots; 7-DOF operation robot; computational complexity; maximum velocity reduction; numerical motion optimization; redundancy joint angle; Jacobian matrices; Joints; Kinematics; Manipulators; Optimization; Redundancy; 7-DOF robot; numerical motion optimization; redundancy joint; singularity avoidance;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2011 International Conference on
Conference_Location :
Yichang
Print_ISBN :
978-1-4244-8162-0
DOI :
10.1109/ICECENG.2011.6057382
