Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm | Zendy

Jingguo Wang | Zendy; Yangmin Li | Zendy; Xinhua Zhao | Zendy

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Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm

Author(s) -

Jingguo Wang,

Yangmin Li,

Xinhua Zhao

Publication year - 2010

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/10495

Subject(s) - computer science , redundancy (engineering) , inverse kinematics , kinematics , moore–penrose pseudoinverse , acceleration , serial manipulator , control theory (sociology) , algorithm , robot manipulator , inverse , parallel manipulator , robot , mathematics , artificial intelligence , control (management) , physics , geometry , classical mechanics , operating system

Closed-loop inverse kinematics (CLIK) algorithm mostly resolves the redundancy at the velocity level. In this paper we extend the CLIK algorithm to the acceleration level to meet some applications that require the joint accelerations. The redundancy resolutions at the velocities and acceleration levels via pseudoinverse method are analyzed respectively. The objective function of joint limits avoidance(JLA) is combined into the redundancy resolution as an optimization approach of the null space motion. A seven-DOF redundant manipulator is designed to do the computer simulations and the real experiments are carried out on a Powercube modular manipulator. Their results demonstrated the effectiveness of the proposed algorithm

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