A study on avoiding joint limits for inverse kinematics of redundant manipulators using improved clamping weighted least-norm method
| Autor: | Rui Ma, Hongtao Wu, Jun Wan, Liang’an Zhang |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
General method Inverse kinematics Computer science Angular displacement Mechanical Engineering Potential field Angular velocity 02 engineering and technology Elastic field Clamping 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Mechanics of Materials Control theory Norm (mathematics) |
| Zdroj: | Journal of Mechanical Science and Technology. 32:1367-1378 |
| ISSN: | 1976-3824 1738-494X |
| Popis: | A general method is presented for the inverse kinematics resolution of redundant manipulators with joint limits. The success of avoiding joint angular position limits of the original clamping weighted least-norm method is ascribable to the strength of the repulsive potential field function. However, the repulsive potential field function may lead to excessive joint angular velocities that can exceed the corresponding limits. We propose an improved clamping weighted least-norm method that adds an elastic field function into the original method for the sake of sustaining the constraints of joint angular velocity limits. Moreover, for hierarchical task-level construction, the priority of avoiding joint angular velocity limits is lower than that of avoiding joint angular position limits. To adequately illustrate the effectiveness of the proposed method, case studies were performed in comparison with other methods in singular configurations of a redundant manipulator. |
| Databáze: | OpenAIRE |
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