NDLI: An optimization method for inverse kinematics of a 7-DOF redundant manipulator

Content Provider	IEEE Xplore Digital Library
Author	Yan Wenbin Sun Lei
Copyright Year	2015
Description	Author affiliation: Inst. of Robot. & Autom. Inf. Syst., NanKai Univ., Tianjin, China (Yan Wenbin; Sun Lei)
Abstract	Based on the D-H model of a normal 7-DOF redundant manipulator, a novel two-phase calculation optimization approach is proposed in this paper by combining the fixed joint-angle method with the weighted least-norm(WLN) solution. In the new approach, the original advantage of avoiding the joint limit to get the optimized solutions in WLN is saved and the new advantage of improving the accuracy of inverse kinematics solution is developed. Moreover, one open problem in this field that Jacobi pseudo-inverse does not exist in some special situations can be solved properly based on the iteration algorithm. Simulation results clearly show that the proposed approach can achieve better tracking accuracy of desired trajectories and solve the open problem mentioned above.
Starting Page	4472
Ending Page	4479
File Size	554510
Page Count	8
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260331
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Jacobian matrices Flowcharts Accuracy 7-DOF Redundant Manipulator Inverse Kinematics Kinematics Manipulators Two-phase calculation Joints Optimization
Content Type	Text
Resource Type	Article

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