Inverse kinematics and control of a 7-DOF redundant manipulator based on the closed-loop Algorithm

Jingguo Wang, Yangmin Li, Xinhua Zhao

Research output: Journal article publicationJournal articleAcademic researchpeer-review

82 Citations (Scopus)

Abstract

Closed-loop inverse kinematics (CLIK) algorithm mostly resolves the redundancy at the velocity level. In this paper we extend the CLIK algorithm to the acceleration level to meet some applications that require the joint accelerations. The redundancy resolutions at the velocities and acceleration levels via pseudoinverse method are analyzed respectively. The objective function of joint limits avoidance(JLA) is combined into the redundancy resolution as an optimization approach of the null space motion. A seven-DOF redundant manipulator is designed to do the computer simulations and the real experiments are carried out on a Powercube modular manipulator. Their results demonstrated the effectiveness of the proposed algorithm.
Original languageEnglish
Pages (from-to)1-9
Number of pages9
JournalInternational Journal of Advanced Robotic Systems
Volume7
Issue number4
Publication statusPublished - 1 Dec 2010
Externally publishedYes

Keywords

  • Closed-loop algorithm
  • Inverse kinematics
  • Joint limit avoidance
  • Null space
  • Redundant manipulator

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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