Comparative analysis for the inverse kinematics of redundant manipulators based on repetitive tracking tasks

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

Considering the redundant degree of freedom(DoF) of open loop kinematic chain, the closed-loop inverse kinematics algorithm(CLIK) via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given and the constraints of joint limits are applied to modify the null space in order for some optimized solutions. The repetitive trajectories are tracked in the simulations made on the 3-DoF planar and 4-DoF spatial manipulators respectively and two optimization methods with joint limits avoidance are considered. The simulation results verify the effectiveness of the proposed algorithm and provide detailed comparative analysis among different methods and cases.
Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Pages164-169
Number of pages6
DOIs
Publication statusPublished - 27 Nov 2009
Externally publishedYes
Event2009 IEEE International Conference on Automation and Logistics, ICAL 2009 - Shenyang, China
Duration: 5 Aug 20097 Aug 2009

Conference

Conference2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Country/TerritoryChina
CityShenyang
Period5/08/097/08/09

Keywords

  • Closed-loop algorithm
  • Joint limit avoidance
  • Objective function
  • Redundant manipulator
  • Repetitive tracking task

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition

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