Redundant Manipulator Control System Simulation with Adaptive Neural Network and Newton-Raphson Refinement Algorithm

Ganin, Pavel; Kobrin, A. I.

doi:10.1109/inforino.2018.8581815

Cited by 1 publication

(1 citation statement)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Due to the existence of lower-mobility parallel mechanism in the series parallel redundant manipulator, there will be some differences in the inverse kinematics solution compared with the series redundant manipulator, but many existing inverse kinematics solution methods of the series redundant manipulator can still be referred to when solving the inverse kinematics of the series parallel redundant manipulator. At present, there are mainly two methods for solving the inverse kinematics of redundant manipulators: the numerical method [9][10] and the analytical method [11]. The numerical method generally uses iterative or optimization methods to solve the inverse kinematics of the redundant manipulator, which has certain applicability, but the real-time of the solution is difficult to guarantee.…”

Section: Introductionmentioning

confidence: 99%

An analytical algorithm for inverse kinematics of series parallel hybrid 7-DOF humanoid manipulator

Wei²,

Liu³

et al. 2022

2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022)

View full text Add to dashboard Cite

Aiming at the inverse kinematics of series-parallel hybrid 7-DOF humanoid manipulator, an analytical algorithm based on adaptive parameterization of joint posture angle is proposed. Firstly, according to the configuration of the humanoid manipulator, the schematic diagram of the mechanism is established, and the forward kinematics is derived. Secondly, the posture angle of the shoulder joint is adaptive parameterized by the moderate principle, and then the rest of the joint posture angles are deduced by the analytical method to complete the inverse kinematics solution. Finally, the correctness of the proposed inverse kinematics method is verified by simulation analysis, and the advantages and disadvantages of the joint posture angles are evaluated by using the evaluation function, which shows that it is reasonable to adopt the moderate principle for the parameterized joint posture angles.

show abstract

Section: Introductionmentioning

confidence: 99%