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 language | English |
|---|---|
| Title of host publication | 2009 IEEE International Conference on Information and Automation, ICIA 2009 |
| Pages | 516-521 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 23 Nov 2009 |
| Externally published | Yes |
| Event | 2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China Duration: 22 Jun 2009 → 25 Jun 2009 |
Conference
| Conference | 2009 IEEE International Conference on Information and Automation, ICIA 2009 |
|---|---|
| Country/Territory | China |
| City | Zhuhai, Macau |
| Period | 22/06/09 → 25/06/09 |
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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