Inverse kinematics analysis for the arm of a mobile humanoid robot based on the closed-loop algorithm

Author

Wang, Jingguo ; Li, Yangmin

Author_Institution

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

fYear

2009

fDate

22-24 June 2009

Firstpage

516

Lastpage

521

Abstract

This paper presents a kind of method for the inverse kinematics of a seven degrees of freedom (DoF) arm installed on a mobile humanoid robot. Due to the redundancy of 7-DoF open-chain arm, the closed-loop inverse kinematics via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given. Because of the existence of the null space in the kinematically redundant arm, the constraints of joint limits are applied here to optimize the redundancy in order to get some desired solutions of inverse kinematics. Computer simulations are made respectively with and without considering the joint limits and simulation results verify the effectiveness of the proposed algorithm.

Keywords

closed loop systems; end effectors; humanoid robots; mobile robots; position control; redundant manipulators; 7-DoF open-chain arm; closed-loop algorithm; closed-loop inverse kinematics; end-effector trajectory; inverse kinematics analysis; joint trajectories; kinematically redundant arm; mobile humanoid robot arm; pseudoinverse method; Computer simulation; Constraint optimization; Humanoid robots; Jacobian matrices; Kinematics; Manipulators; Motion control; Null space; Orbital robotics; Robotics and automation; Mobile humanoid robot; closed-loop algorithm; inverse kinematics; joint limit avoidance; null space;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation, 2009. ICIA '09. International Conference on

Conference_Location

Zhuhai, Macau

Print_ISBN

978-1-4244-3607-1

Electronic_ISBN

978-1-4244-3608-8

Type

conf

DOI

10.1109/ICINFA.2009.5204978

Filename

5204978