Abstract
The extended Jacobian method used to solve the inverse kinematics of redundant robot was employed to realize the repeatable control of the robot by dint of the introduction of the secondary task. A new self-developed 4 DOF lightweight manipulator was introduced. Taking a specified 3 dimensional trajectory as the main task and the attitude control as the secondary task, the inverse kinematics of the manipulator was solved and the experiment was carried out. The desired variables for joint space of the manipulator were provided, and then the trajectory errors in the joint space and Cartesian space were obtained in the experiments.
| Original language | English |
|---|---|
| Pages (from-to) | 34-36+85 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 41 |
| Issue number | 5 |
| State | Published - May 2009 |
Keywords
- Extended Jacobian method
- Inverse kinematics
- Redundant manipulator
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