Numerical Solution Using Nonlinear Least-Squares Method for Inverse Kinematics Calculation of Redundant Manipulators | Zendy

Shunsuke TORITANI | Zendy; Ruhizan Liza Ahmad Shauri | Zendy; Kenzo AMI | Zendy; Daigo FUJIWARA | Zendy

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Numerical Solution Using Nonlinear Least-Squares Method for Inverse Kinematics Calculation of Redundant Manipulators

Author(s) -

Shunsuke TORITANI,

Ruhizan Liza Ahmad Shauri,

Kenzo AMI,

Daigo FUJIWARA

Publication year - 2012

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2012.p0363

Subject(s) - workspace , trajectory , kinematics , inverse kinematics , control theory (sociology) , nonlinear system , singularity , focus (optics) , computer science , serial manipulator , inverse , least squares function approximation , parallel manipulator , robot , mathematics , artificial intelligence , mathematical analysis , geometry , control (management) , estimator , statistics , physics , classical mechanics , quantum mechanics , astronomy , optics

In this paper, we present an Inverse Kinematics (IK) algorithm based on the nonlinear least-squares method for redundant manipulators. The Newton-Raphson (NR) method is a commonmethod for IK calculation of redundant manipulators. The NR method, however, causes many problems in terms of joint angle limits, singularity, and solvability. Severalmethods have therefore been proposed to solve these problems. Most, however, focus only on IK calculation performance when a desired trajectory moves outside of the workspace. A manipulator is required to move continuously, even after a desired trajectory moves outside of the workspace. It is thus also necessary to implement the IK calculation method for bringing a desired trajectory back into the workspace. In this study, we propose a user-friendly method for robotic manipulation that is capable of implementing accurate IK calculation when a desired trajectorymust be returned to the workspace.

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