TY - GEN
T1 - Analytical inverse kinematic computation for anthropomorphic manipulator based on human-like motion optimization and maximum reachable region optimization
AU - Xia, Jing
AU - Jiang, Zainan
AU - Liu, Hong
AU - Cai, Hegao
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.
AB - This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.
UR - https://www.scopus.com/pages/publications/84949928787
U2 - 10.1109/ROBIO.2014.7090679
DO - 10.1109/ROBIO.2014.7090679
M3 - 会议稿件
AN - SCOPUS:84949928787
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 2292
EP - 2297
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -