Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm

Wang, Jingguo; Li, Yangmin; Zhao, Xinhua

doi:10.5772/10495

Cited by 106 publications

(83 citation statements)

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“…is the end-effector velocity and m R q ∈  is the joint velocity [14,15,16,20]. Therefore, we can obtain the velocity inverse kinematics through the generalize inverse Jacobian matrix method as follows:…”

Section: Obstacle Avoidance Of Redundant Manipulators Based On Gradiementioning

confidence: 99%

Obstacle avoidance planning for redundant manipulator based on variational method

2017

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Original scientific paper To reduce the excessive joints movement, this paper proposed a new obstacle avoidance method for a redundant manipulator. In this method, we designed the performance evaluation functional to realize the shortest joints motion path of manipulator, and deduced the gradient vector optimizing index by variational method to make the joint movement minimum during obstacle avoiding. Meanwhile, in order to avoid the obstacle avoidance algorithm failure or joints exceeding their limits, which arose from the great difference between least-norm solution and homogeneous solution of velocity inverse kinematics of the manipulator, this paper used 2-norm continuous function to adjust homogeneous solution factor of gradient projection method dynamically. To verify the validity of the proposed obstacle avoidance method in the paper, simulation experiments were conducted on a 7-DOF redundant manipulator. The results show that, compared to the traditional gradient projection method for obstacle avoidance, the proposed algorithm in this paper has decreased the displacement of joint 1 to joint 6 by 38,3 %, 83,3 %, 3,81 %, 7,85 %, 50,1 % and 45,6 % respectively, and the total displacement of prismatic joints and revolute joints has reduced 62,2 % and 26,4 %. At the same time, the changes of joint 1 to joint 6's velocity and acceleration between initial time and final time during obstacle avoiding has been decreased 43,2 %, 97,3 %, 2,23 %, 36,6 %, 96,7 %, 72,7 % (velocity) and 91,04 %, 98,28 %, 73,33 %, 98,40 %, 93,86 % and 91,94 % (acceleration) respectively. The test validated that the proposed obstacle avoidance method based on variational method is feasible and practicable. Keywords: gradient projection; obstacle avoidance; path planning; variational method; redundant manipulator Planiranje izbjegavanja prepreka kod redundantnog manipulatora na temelju varijacijske metodeIzvorni znanstveni članak U svrhu smanjenja prekomjernog pomicanja zglobova, u radu se predlaže nova metoda za izbjegavanje prepreka kod redundantnog manipulatora. U toj smo metodi dizajnirali funkcionalnu procjenu pokreta kako bismo dobili najkraću stazu kretanja zgloba manipulatora i dobili indeks optimizacije vektora gradijenta primjenom varijacijske (variational) metode da bi za vrijeme izbjegavanja prepreke kretanje zgloba bilo minimalno. U međuvremenu, kako bismo izbjegli neuspjeh algoritma za izbjegavanje prepreke ili prekoraćenje krajnjih granica zglobova, do kojih je došlo zbog velike razlike između solucije najmanje norme i homogene solucije kinematike inverzne brzine manipulatora, u radu je primijenjena kontinuirana funkcija 2-norme da bi se dinamički podesio homogeni faktor rješenja metode projekcije gradijenta. Da bi se provjerila ispravnosti u radu predložene metode izbjegavanja prepreka, provedeni su simulacijski eksperimenti na 7-DOF redundantnom manipulatoru. Rezultati pokazuju da u usporedbi s tradicionalnom metodom projekcije gradijenta za izbjegavanje prepreka, u radu predloženim algoritmom smanjio se pomak zgloba 1 d...

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Section: Obstacle Avoidance Of Redundant Manipulators Based On Gradiementioning

confidence: 99%

Obstacle avoidance planning for redundant manipulator based on variational method

2017

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“…where 2 Eqs. (8)- (12) show that for any point p E = x E y E z E γ β T given in the workspace, we can determine the value of q analytically.…”

Section: Inverse Kinematics Analysismentioning

confidence: 99%

“…Further studies in this area can be found in the literature, such as the kinematics design of manipulators [1], the kinematics of the redundant robot [2], the kinematics of the parallel robot [3,4]. There is much research in the area of the modelling and design of serial manipulators carrying heavy payloads [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Kinematics Performance and Structural Analysis for the Design of a Serial-parallel Manipulator Transferring a Billet for a Hot Extrusion Forging Process

Parnichkun

2015

Int. j. adv. robot. syst.

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To reduce the downtime and optimize the use of energy and manpower, a serial-parallel manipulator is designed for transferring heavy billets for a hot extrusion forging station. With the purpose of increasing the structural rigidity and restricting the end-effector (a gripper) so that it always moves in parallel with the ground surface, parallel links are added in between the serial links of the manipulator. This modification of the conventional structure must be considered in the modelling and analysis of the design. This paper addresses a methodology to investigate the kinematics performance and strength analysis of the designed robot. With respect to the parallel links, the constraint equation is derived and put together with the kinematical model. Based on the entire model that is formulated, the inverse kinematics, the transferring time, the reachable workspace, the degree of dexterity and the manipulability index are analysed and discussed to demonstrate its kinematical performance. In addition, to investigate the structural characteristics of the end-effector module, the static displacement and stress distributed on module's components are computed and simulated using the computer-aided finite element method (FEM). These research results are effective and useful in assessing and improving the robot's design.

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“…Redundancy resolution in velocity making use of pseudo-inverse approaches has been widely used in various subtask controls such as singularity avoidance (Yoshikawa, 1984), joint velocity minimization (Seraji, 1991), obstacle avoidance (Chen et al, 2002), mechanical joint limit avoidance (Tatlıcıoğlu et al, 2009), and manipulability (Maaroof et al, 2012). In addition, different redundancy resolution approaches have been proposed including in velocity level (Rajiv et al, 1991) and in acceleration level (Wang et al, 2010). Examples presented above address optimization for var-ious sub-tasks.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration

Uzunoğlu

Dede

Kiper

et al. 2014

Mechanisms and Machine Science

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Abstract. In the industry there is always a demand to shorten the task completion durations in order to maximize the efficiency of the operation. This work aims to provide a solution to minimize the task completion duration for planar tasks by introducing kinematic redundancy. An example setting of a redundant planar mechanism is considered and an algorithm developed for resolving redundancy order to minimize task completion duration is discussed based on this mechanism.

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Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm

Cited by 106 publications

References 20 publications

Obstacle avoidance planning for redundant manipulator based on variational method

Obstacle avoidance planning for redundant manipulator based on variational method

Kinematics Performance and Structural Analysis for the Design of a Serial-parallel Manipulator Transferring a Billet for a Hot Extrusion Forging Process

Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration

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