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Inverse kinematics of redundant manipulators with guaranteed performance
| Content Provider | Scilit |
|---|---|
| Author | Guo, Dongsheng Li, Aifen Cai, Jianhuang Feng, Qingshan Shi, Yang |
| Copyright Year | 2021 |
| Description | In this paper, the inverse kinematics (IK) of redundant manipulators is presented and studied, where the performance of end-effector path planning is guaranteed. A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied using a typical numerical difference rule to discretize the existing IK method based on JP. The proposed method is depicted in a discrete-time form and is theoretically proven to exhibit great performance in the IK of redundant manipulators. A discrete-time repetitive path planning (DTRPP) scheme and a discrete-time obstacle avoidance (DTOA) scheme are developed for redundant manipulators using the proposed method. Comparative simulations are conducted on a universal robot manipulator and a PA10 robot manipulator to validate the effectiveness and superior performance of the DTRPP scheme, the DTOA scheme, and the proposed JP-based IK method. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/EE9E4571FA994B8BFA424C5031A3E90B/S026357472100045Xa.pdf/div-class-title-inverse-kinematics-of-redundant-manipulators-with-guaranteed-performance-div.pdf |
| Ending Page | 190 |
| Page Count | 21 |
| Starting Page | 170 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s026357472100045x |
| Journal | Robotica |
| Issue Number | 1 |
| Volume Number | 40 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2021-05-18 |
| Access Restriction | Open |
| Subject Keyword | Robotica Inverse Kinematics Jacobian Pseudoinverse Redundant Manipulator Repetitive Path Planning Obstacle Avoidance |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
