EFFICIENT INVERSE KINEMATIC SOLUTION FOR REDUNDANT MANIPULATORS

Abstract

Abstract: A valid and efficient inverse kinematic computation scheme for seven-degree-of-freedom (7-DOF) redundant manipulators is proposed. The scheme uses two-phase calculations: one is the gradient projection method for optimization; the other is the fixed joint-angle method for increasing the precision. A group of optimized solution can be obtained from the proposed algorithm. Implementation of the scheme on a 7-DOF manipu-lator is described. Comparisons are made with respect to preci-sion in calculation between the gradient projection optimization method and the two-phase calculations. Computational time is test in the PCM-3350 controller, and it demonstrates the pro-posed algorithm is well suited for real-time implementation.

Key words: Inverse kinematics, Jacobian, Redundant manipulator, Two-phase calculations

CLC Number:

TP24

Zu Di;Wu Zhenwei;Tan Dalong. EFFICIENT INVERSE KINEMATIC SOLUTION FOR REDUNDANT MANIPULATORS[J]. , 2005, 41(6): 71-75.

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EFFICIENT INVERSE KINEMATIC SOLUTION FOR REDUNDANT MANIPULATORS

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