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Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm
| Content Provider | SAGE Publishing |
|---|---|
| Author | Wang, Jingguo Li, Yangmin Zhao, Xinhua |
| Copyright Year | 2010 |
| Abstract | 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. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/10495?download=true |
| ISSN | 17298806 |
| Issue Number | 4 |
| Volume Number | 7 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/10495 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2010-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2010 SAGE Publications Ltd |
| Rights License | Llicensed Under Creative Commons Licenses |
| Subject Keyword | null space Redundant manipulator joint limit avoidance inverse kinematics closed-loop algorithm |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
