A New Extended SDLS to Deal with the JLA in the Inverse Kinematics of an Anthropomorphic Robotic Hand

Bensalah, Choukri; Gonzalez-Quijano, Javier; Zhang, Jianwei; Abderrahim, Mohamed

doi:10.1007/978-3-319-03653-3_47

Cited by 2 publications

(2 citation statements)

References 17 publications

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“…In the field of robot obstacle avoidance, the mainly applied domestic and overseas research methods include DLS method [7] , SICQP method [8] , normal form method [9] , etc. [10][11][12] . However, it is difficult to solve the contradictions between algorithm complexity and precision of end tracking existing in these methods.…”

Section: Introductionmentioning

confidence: 99%

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

Liu¹,

Dai²

2017

dtetr

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This thesis proposes a path planning method of obstacle and singularity avoidance with synergistic effect for redundant robot. By analyzing robot configuration, it proposes an improved method to calculate real-time minimum distance. At first, it screens out the connecting rod which might collide. Then, it calculates the distance by coordinate variation method and took the minimum value. At last, it obtains the real-time minimum distance. By introducing two obstacle avoidance parameters related to the real-time minimum distance, this thesis uses the self-motion of redundant kinematic chain in null space to complete obstacle avoidance. Also, it applies DLS method to complete singularity avoidance optimization to the obstacle avoidance algorithm. It solves the problem of excessive joint velocity close to singularity configuration. In the end, this thesis verifies the effectiveness of the algorithm by conducting simulation experiment on a plane 3R redundant robot.

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Section: Introductionmentioning

confidence: 99%

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

Liu¹,

Dai²

2017

dtetr

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“…In the field of obstacle-avoiding of the manipulator, the main research method including the artificial potential field method [4] ,fuzzy method [5] , neural network method [6] , genetic algorithm [7] , Probabilistic Roadmaps method [8] ,Rapidly-exploring Random Tree method [9] .However, these methods have some shortcomings and the contradiction between the optimal path the planning time and the complexity of algorithm is very difficult to solve. In the area of singularity-avoiding of the manipulator, the main research methods such as the Damped least square method [10] , SICQP method [11] , normal forms method [12] . But these method is difficult to solve the contradiction of the tracking accuracy and the complexity of algorithm [13] .…”

Section: Introductionmentioning

confidence: 99%

Improvement of Obstacle and Singularity Avoidance Path Planning Algorithm for Redundant Manipulators

Liu¹,

Dai²

2016

Proceedings of the 2015 5th International Conference on Computer Sciences and Automation Engineering

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Abstract.A collaborative optimization scheme of obstacle avoidance and singularity avoidance path planning method is presented for redundant robot. An improved real-time minimum distance calculated method is presented and search the connect rod which easy to collision based on this minimum distance. Complete the obstacle avoidance based on the self-motion of the redundant manipulator on a null space and two obstacle avoidance parameters related to real-time minimum distance are introduced to improve optimization of obstacle avoidance. Adopt the DLS method to solve the problem that very high joint velocities in the vicinity of singular configuration. At last, through simulation of planar 3R redundant manipulator, the algorithm proves to be feasible and effective.

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A New Extended SDLS to Deal with the JLA in the Inverse Kinematics of an Anthropomorphic Robotic Hand

Cited by 2 publications

References 17 publications

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

Improvement of Obstacle and Singularity Avoidance Path Planning Algorithm for Redundant Manipulators

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