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

Jingguo Wang; Yangmin Li

doi:10.1109/ICAL.2009.5262950

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

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Pages	164-169
Number of pages	6
DOIs	https://doi.org/10.1109/ICAL.2009.5262950
Publication status	Published - 27 Nov 2009
Externally published	Yes
Event	2009 IEEE International Conference on Automation and Logistics, ICAL 2009 - Shenyang, China Duration: 5 Aug 2009 → 7 Aug 2009

Conference

Conference	2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Country/Territory	China
City	Shenyang
Period	5/08/09 → 7/08/09

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

More information

10.1109/ICAL.2009.5262950

Cite this

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title = "Comparative analysis for the inverse kinematics of redundant manipulators based on repetitive tracking tasks",

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.",

keywords = "Closed-loop algorithm, Joint limit avoidance, Objective function, Redundant manipulator, Repetitive tracking task",

author = "Jingguo Wang and Yangmin Li",

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doi = "10.1109/ICAL.2009.5262950",

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Wang, J & Li, Y 2009, Comparative analysis for the inverse kinematics of redundant manipulators based on repetitive tracking tasks. in Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009., 5262950, pp. 164-169, 2009 IEEE International Conference on Automation and Logistics, ICAL 2009, Shenyang, China, 5/08/09. https://doi.org/10.1109/ICAL.2009.5262950

Comparative analysis for the inverse kinematics of redundant manipulators based on repetitive tracking tasks. / Wang, Jingguo; Li, Yangmin.
Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009. 2009. p. 164-169 5262950.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Comparative analysis for the inverse kinematics of redundant manipulators based on repetitive tracking tasks

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AU - Li, Yangmin

PY - 2009/11/27

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N2 - 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.

AB - 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.

KW - Closed-loop algorithm

KW - Joint limit avoidance

KW - Objective function

KW - Redundant manipulator

KW - Repetitive tracking task

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BT - Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009

T2 - 2009 IEEE International Conference on Automation and Logistics, ICAL 2009

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ER -

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

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