Inverse kinematics analysis for the arm of a mobile humanoid robot based on the closed-loop algorithm

Jingguo Wang, Yangmin Li

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

18 Citations (Scopus)

Abstract

This paper presents a kind of method for the inverse kinematics of a seven degrees of freedom (DoF) arm installed on a mobile humanoid robot. Due to the redundancy of 7-DoF open-chain arm, the closed-loop inverse kinematics via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given. Because of the existence of the null space in the kinematically redundant arm, the constraints of joint limits are applied here to optimize the redundancy in order to get some desired solutions of inverse kinematics. Computer simulations are made respectively with and without considering the joint limits and simulation results verify the effectiveness of the proposed algorithm.
Original languageEnglish
Title of host publication2009 IEEE International Conference on Information and Automation, ICIA 2009
Pages516-521
Number of pages6
DOIs
Publication statusPublished - 23 Nov 2009
Externally publishedYes
Event2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China
Duration: 22 Jun 200925 Jun 2009

Conference

Conference2009 IEEE International Conference on Information and Automation, ICIA 2009
Country/TerritoryChina
CityZhuhai, Macau
Period22/06/0925/06/09

Keywords

  • Closed-loop algorithm
  • Inverse kinematics
  • Joint limit avoidance
  • Mobile humanoid robot
  • Null space

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Science Applications
  • Control and Systems Engineering

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