Inverse kinematics of redundant manipulators with guaranteed performance

被引：8

作者：

Guo, Dongsheng ^{[1
]}

Li, Aifen ^{[1
]}

Cai, Jianhuang ^{[1
]}

Feng, Qingshan ^{[1
]}

Shi, Yang ^{[2
]}

机构：

[1] Huaqiao Univ, Coll Informat Sci & Engn, Xiamen 361021, Peoples R China

[2] Yangzhou Univ, Sch Informat Engn, Yangzhou 225127, Jiangsu, Peoples R China

来源：

ROBOTICA | 2022年 / 40卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Inverse kinematics; Jacobian pseudoinverse; Redundant manipulator; Repetitive path planning; Obstacle avoidance; OBSTACLE AVOIDANCE; RESOLUTION; LEVEL;

D O I：

10.1017/S026357472100045X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：170 / 190

页数：21

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