A Novel Approach for a Inverse Kinematics Solution of a Redundant Manipulator
Source abstract
Abstract
Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introduces a new algorithm for the control of kinematically-redundant manipulator considering three secondary tasks, namely a joint limit avoidance task, a kinematic singularities avoidance task, and an obstacle avoidance task. For path planning of end-effector from start to goal point, the potential field method is used. The final inverse kinematic model is designed by a Jacobian-based method considering weight matrices in order to prioritize particular tasks. Our approach is based on the flexible behavior of priority value due to the acceleration of numerical simulation. The results of the simulations show the advantage of our approach, which results in a significant decrease of computing time.
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Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Robotic Path Planning Algorithms · Robot Manipulation and Learning
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Faculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, Slovakia
Faculty of Mechanical Engineering, University of Žilina, 01026 Žilina, Slovakia
Funding
Ministerstvo školstva, vedy, výskumu a športu Slovenskej republiky
References (36)
Show source-provided references
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