2016
DOI: 10.1007/978-3-319-29504-6_41
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An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot

Abstract: Abstract. This paper describes a robot with 12 degrees of freedom for pick-and-place operations using bricks. In addition, an optimization approach is proposed, which determines the state of each joint (that establishes the pose for the robot) based on the target position while minimizing the effort of the servomotors avoiding the inverse kinematics problem, which is a hard task for a 12 DOF robot manipulator. Therefore, it is a multi-objective optimization problem that will be solved using two optimization me… Show more

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Cited by 8 publications
(3 citation statements)
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“…Forward kinematics of a general n-dof robotic manipulator could be obtained using homogenous-transformation computation [5], [6], [7]:…”
Section: Problem Statementsmentioning
confidence: 99%
See 1 more Smart Citation
“…Forward kinematics of a general n-dof robotic manipulator could be obtained using homogenous-transformation computation [5], [6], [7]:…”
Section: Problem Statementsmentioning
confidence: 99%
“…Implementation time of the biomimetic algorithm [3] was impressively fast while the universal ability was exhibited by the neural approach [4]. The inverse-kinematics problem could be also well treated by various optimization methods such as the stretched simulated annealing (SSA) algorithm [5], and Jacobian pseudo inverse method [6], or the damped least-squares (DLS) law [7]. However, physical constraints are open issues of these advanced controllers.…”
Section: Introductionmentioning
confidence: 99%
“…There are several studies that seek the best algorithms for the motion control of the joints of the snake robots, as M. Jafari and A. Shahmansoorian [56] show. In one such study, P. Costa, J. Lima, A. I. Pereira, P. Costa, A. Pinto [57]" propose a multi-criteria optimization for a robot with 12 degrees of freedom, Tentacle Robot, by minimizing the Euclidean distance between the target positions and by minimizing the effort of the servomotors.…”
Section: Minimum Jerk Trajectory Planningmentioning
confidence: 99%