Inverse Kinematics of Redundant Manipulator Used in Tele-operation

被引：0
|
作者：
Yang, Junjuan [1 ,2 ]
Wang, Xiulian [1 ]
Cui, Long [2 ]
Li, Hongyi [2 ]
机构：
[1] Shenyang Ligong Univ, Shenyang, Liaoning Provin, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning Provin, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年
关键词：
trajectory planning; inverse kinematics; Weighted Least-Norm solution; fixed joint angle inversion method; avoid joint limits;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To address the problem that joints would exceed limitation in motion control of Tele-operation, a novel efficient inverse kinematics method for the 7 DOF manipulator of the thermonuclear fusion reactor to trajectory planning is presented in this paper. Based on Weighted Least-Norm (WLN) solution, the fixed joint angle inversion method is applied to decrease the accumulated error and avoid joint limits. Simulation results illustrate the effectiveness of the proposed algorithm on avoiding joint limitation and reducing the tracking error.
引用
收藏
页码：1690 / 1695
页数：6
相关论文
共 50 条
  • [1] Inverse kinematics for a redundant robotic manipulator used for nuclear decommissioning
    Besset, Pierre
    Taylor, C. James
    2014 UKACC INTERNATIONAL CONFERENCE ON CONTROL (CONTROL), 2014, : 56 - 61
  • [2] Design of a Force Feedback Tele-operation Master Manipulator
    Rong, Xuewen
    Liu, Bin
    Chai, Hui
    Chu, Guoqing
    2014 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), 2014, : 892 - 896
  • [3] Analysis of a Micro-Nano Manipulator for Tele-Operation
    Mohandesi, Fatemeh
    Korayem, Moharam Habibnejad
    PROCEEDINGS OF THE 1ST WSEAS INTERNATIONAL CONFERENCE ON BIOMEDICAL ELECTRONICS AND BIOMEDICAL INFORMATICS, 2008, : 255 - +
  • [4] Design and Research of Tele-operation Manipulator with Force Feedback
    Chen, Tiehua
    Zhang, Zhuxin
    International Conference on Intelligent Computation Technology and Automation, Vol 2, Proceedings, 2008, : 979 - 983
  • [5] Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot
    Hugo Andaluz, Victor
    Quevedo, Washington X.
    Chicaiza, Fernando A.
    Varela, Jose
    Gallardo, Cristian
    Sanchez, Jorge S.
    Arteaga, Oscar
    Augmented Reality, Virtual Reality, and Computer Graphics, Pt I, 2016, 9768 : 228 - 245
  • [6] Tele-operation system for a hyper-redundant robotic arm
    Predescu, Alice
    Dinulescu, Ionut
    Ivanescu, Mircea
    PROCEEDINGS OF 11TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE, 2010, 2010, : 153 - 156
  • [7] Study of web-based tele-operation of pneumatic manipulator
    Wu, CY
    Gao, JH
    Hu, XD
    Zhu, ZC
    Proceedings of the Sixth International Conference on Fluid Power Transmission and Control, 2005, : 671 - 675
  • [8] Research on the Variable Gain Control strategy of Tele-operation Redundant Robot
    Gong, Mingde
    Qin, Yongjin
    2016 8TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC), VOL. 1, 2016, : 408 - 411
  • [9] Web-based tele-operation of pneumatic manipulator with vision positioning
    Wu, CY
    Hu, XD
    Zhao, Y
    7TH WORLD MULTICONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL VII, PROCEEDINGS, 2003, : 289 - 293
  • [10] Redundant Serial Manipulator Inverse Position Kinematics and Dynamics
    Haug, Edward J.
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2024, 16 (08):
12345