Redundant manipulator self-motion topology under joint limits with an 8-DOF case study

2002 ◽  
Author(s):  
C.L. Luck ◽  
S. Lee
Keyword(s):  
Redundant Manipulator ◽  
Joint Limits ◽  
Self Motion

Dual arm-angle parameterisation and its applications for analytical inverse kinematics of redundant manipulators

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2669-2688 ◽  
Author(s):  
Wenfu Xu ◽  
Lei Yan ◽  
Zonggao Mu ◽  
Zhiying Wang
Keyword(s):  
Inverse Kinematics ◽  
Reference Plane ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Singularity Problem ◽  
Human Arm ◽  
Angle Method ◽  
Self Motion ◽  
Dual Arm ◽  
Configuration Control

SUMMARYAn S-R-S (Spherical-Revolute-Spherical) redundant manipulator is similar to a human arm and is often used to perform dexterous tasks. To solve the inverse kinematics analytically, the arm-angle was usually used to parameterise the self-motion. However, the previous studies have had shortcomings; some methods cannot avoid algorithm singularity and some are unsuitable for configuration control because they use a temporary reference plane. In this paper, we propose a method of analytical inverse kinematics resolution based on dual arm-angle parameterisation. By making use of two orthogonal vectors to define two absolute reference planes, we obtain two arm angles that satisfy a specific condition. The algorithm singularity problem is avoided because there is always at least one arm angle to represent the redundancy. The dual arm angle method overcomes the shortcomings of traditional methods and retains the advantages of the arm angle. Another contribution of this paper is the derivation of the absolute reference attitude matrix, which is the key to the resolution of analytical inverse kinematics but has not been previously addressed. The simulation results for typical cases that include the algorithm singularity condition verified our method.

Optimal Base Placement and Motion Planning for Mobile Manipulators

2012 ◽  
Author(s):  
Bin Du ◽  
Jing Zhao ◽  
Chunyu Song
Keyword(s):  
Motion Planning ◽  
Great Influence ◽  
Initial Point ◽  
Mobile Manipulator ◽  
Target Point ◽  
Mobile Manipulators ◽  
Redundant Manipulator ◽  
Self Motion ◽  
The Given ◽  
Manipulation Capability

A mobile manipulator typically consists of a mobile platform and a robotic manipulator mounted on the platform. The base placement of the platform has a great influence on whether the manipulator can perform a given task. In view of the issue, a new approach to optimize the base placement for a specified task is proposed in this paper. Firstly, the workspace of a redundant manipulator is investigated. The manipulation capability of the redundant manipulator is maximized based on the manipulability index through the joint self-motion of the redundant manipulator. Then the maximum manipulation capability in the specified work point is determined. Next, the relative manipulability index (RMI) is defined for analyzing manipulation capability of the manipulator in its workspace, and the global manipulability map (GMM) is presented based on the above measure. Moreover, the optimal base placement related to the given task is obtained, and the motion planning is implemented by an improved rapidly-exploring random tree (RRT) algorithm with the RMI, which can enhance the manipulation capability from the initial point to the target point. Finally, the feasibility of the proposed algorithm is illustrated with numerical simulations and experiments on the mobile manipulator.

Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria

Robotica ◽  
2008 ◽  
Vol 26 (6) ◽  
pp. 711-728 ◽  
Author(s):  
Ufuk Özbay ◽  
H. Türker Şahin ◽  
Erkan Zergeroğlu
Keyword(s):  
Controller Design ◽  
Robot Manipulators ◽  
Parametric Uncertainty ◽  
Robot Arm ◽  
Robust Tracking Control ◽  
Planar Case ◽  
Redundant Robot ◽  
Six Degree Of Freedom ◽  
Joint Limits ◽  
Self Motion

SUMMARYIn this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (e.g., maintaining manipulability, avoidance of mechanical joint limits, and obstacle avoidance). The controller proposed ensures uniformly ultimately bounded end-effector and sub-task tracking despite the parametric uncertainty associated with the dynamic model. A Lyapunov based approach has been utilized in the controller design and extension to a non minimum set of parameters for orientation representation has been presented to illustrate the flexibility of the approach. Extensive simulation studies performed initially on a 3 link planar robot arm (for the planar case) and on a six degree of freedom (DOF) Puma type robot arm (for the 3D case with quaternion feedback) are presented to demonstrate the capabilities and the performance of the controller. The results were then experimentally tested on an actual Puma 560 robot to illustrate the feasibility of the proposed method.

scholarly journals Analytical Inverse Kinematics and Self-Motion Application for 7-DOF Redundant Manipulator

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 18662-18674 ◽  
Author(s):  
Mingde Gong ◽  
Xiangdong Li ◽  
Lei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Redundant Manipulator ◽  
Self Motion

Kinematic control of planar redundant manipulators by extended motion distribution scheme

Robotica ◽  
1992 ◽  
Vol 10 (3) ◽  
pp. 255-262 ◽  
Author(s):  
W. J. Chung ◽  
W. K. Chung ◽  
Y. Youm
Keyword(s):  
Difficult Problem ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
End Effector ◽  
Kinematic Control ◽  
Internal Joint ◽  
Distribution Scheme ◽  
Joint Velocity ◽  
Self Motion ◽  
Velocity Level

SUMMARYThe kinematic control of a planar manipulator with several-degrees of redundancy has been a difficult problem because of the heavy computational burden and/or lack of appropriate techniques. The extended motion distribution scheme, which is based on decomposing a planar redundant manipulator into a series of nonredundant/redundant local arms (referred to as subarms) and distributing the motion of an end-effector to subarms at the joint velocity level, is proposed in this paper. The configuration index, which is defined as the product of minors corresponding to subarms in the Jacobian matrix, is used to globally guide the redundant manipulators. To enhance the performance of the proposed scheme, a self-motion control, which handles the internal joint motion that does not contribute to the end-effector motion, can be used optionally to guarantee globally optimal manipulation. The repeatability problem for the redundant manipulators is discussed using the proposed scheme. The results of computer simulations are shown and analyzed in detail for planar 8-DOF and 9-DOF manipulators, as examples.

A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints

2017 ◽  
Vol 9 (4) ◽  
Author(s):  
Pei Jiang ◽  
Shuihua Huang ◽  
Ji Xiang ◽  
Michael Z. Q. Chen
Keyword(s):  
Joint Space ◽  
Second Order ◽  
The Self ◽  
Dynamic Feedback ◽  
Unified Approach ◽  
Physical Constraints ◽  
Dynamic Feedback Control ◽  
Joint Limits ◽  
Joint Velocity ◽  
Self Motion

Kinematic control of manipulators with joint physical constraints, such as joint limits and joint velocity limits, has received extensive studies. Many studies resolved this problem at the second-order kinematic level, which may suffer from the self-motion instability in the presence of persistent self-motion or unboundedness of joint velocity. In this paper, a unified approach is proposed to control a manipulator with both joint limits and joint velocity limits at the second-order kinematic level. By combining the weighted least-norm (WLN) solution in the revised joint space and the clamping weighted least-norm (CWLN) solution in the real joint space, the unified approach ensures the joint limits and joint velocity limits at the same time. A time-variant clamping factor is incorporated into the unified approach to suppress the self-motion when the joint velocity diverges, or the end-effector stops, which improves the stability of self-motion. The simulations in contrast to the traditional dynamic feedback control scheme and the new minimum-acceleration-norm (MAN) scheme have been made to demonstrate the advantages of the unified approach.

scholarly journals The optimization of global fault tolerant trajectory for redundant manipulator based on self-motion

2015 ◽  
Vol 35 ◽  
pp. 02015
Author(s):  
Jian Zhang ◽  
Qingxuan Jia ◽  
Gang Chen ◽  
Hanxu Sun ◽  
Tong Li
Keyword(s):  
Fault Tolerant ◽  
Redundant Manipulator ◽  
Self Motion
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