A Fast and Robust Kinematic Model for a 12 DoF Hyper-Redundant Robot Positioning: an Optimization Proposal

被引：2
|
作者：
Lima, Jose [1 ,2 ]
Pereira, Ana I. [1 ,3 ]
Costa, Paulo [2 ,4 ]
Pinto, Andry [2 ]
Costa, Pedro [2 ,4 ]
机构：
[1] Polytech Inst Braganca, Braganca, Portugal
[2] INESC TEC, Oporto, Portugal
[3] Univ Minho, ALGORITMI, Braga, Portugal
[4] Univ Porto, Fac Engn, Oporto, Portugal
来源：
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2016 (ICNAAM-2016) | 2017年 / 1863卷
关键词：
Humanoid Gait; Simulated annealing; Optimization;
D O I：
10.1063/1.4992429
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.
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页数：4
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