Title :
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
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;
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
DOI :
10.1109/ICAL.2009.5262950
