Efficient inverse kinematics solution for redundant robots to realtime control

Bo Pan; Yi Li Fu; Zong Peng Yang; Shu Guo Wang

Efficient inverse kinematics solution for redundant robots to realtime control

Bo Pan^*
, Yi Li Fu
, Zong Peng Yang
, Shu Guo Wang

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

12 Scopus citations

Abstract

A new inverse kinematics control scheme for a 7-DOF redundant robot is presented. Based on the geometric feature of redundant robots, inverse kinematics of 7-DOF robot is reduced to kinematics of 4-DOF position. Gradient projection method is used to optimize position for the robot. Then a group of optimized solution can be obtained based on optimizing position solution and close-form solution gotten by analytic method. Results of simulation on a 7-DOF robot show the effectiveness of the scheme.

Original language	English
Pages (from-to)	176-180
Number of pages	5
Journal	Kongzhi yu Juece/Control and Decision
Volume	24
Issue number	2
State	Published - Feb 2009

Keywords

Inverse kinematics
Jacobian matrix
Real-time control
Redundant robot

Cite this

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title = "Efficient inverse kinematics solution for redundant robots to realtime control",

abstract = "A new inverse kinematics control scheme for a 7-DOF redundant robot is presented. Based on the geometric feature of redundant robots, inverse kinematics of 7-DOF robot is reduced to kinematics of 4-DOF position. Gradient projection method is used to optimize position for the robot. Then a group of optimized solution can be obtained based on optimizing position solution and close-form solution gotten by analytic method. Results of simulation on a 7-DOF robot show the effectiveness of the scheme.",

keywords = "Inverse kinematics, Jacobian matrix, Real-time control, Redundant robot",

author = "Bo Pan and Fu, \{Yi Li\} and Yang, \{Zong Peng\} and Wang, \{Shu Guo\}",

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language = "英语",

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journal = "Kongzhi yu Juece/Control and Decision",

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T1 - Efficient inverse kinematics solution for redundant robots to realtime control

AU - Pan, Bo

AU - Fu, Yi Li

AU - Yang, Zong Peng

AU - Wang, Shu Guo

PY - 2009/2

Y1 - 2009/2

N2 - A new inverse kinematics control scheme for a 7-DOF redundant robot is presented. Based on the geometric feature of redundant robots, inverse kinematics of 7-DOF robot is reduced to kinematics of 4-DOF position. Gradient projection method is used to optimize position for the robot. Then a group of optimized solution can be obtained based on optimizing position solution and close-form solution gotten by analytic method. Results of simulation on a 7-DOF robot show the effectiveness of the scheme.

AB - A new inverse kinematics control scheme for a 7-DOF redundant robot is presented. Based on the geometric feature of redundant robots, inverse kinematics of 7-DOF robot is reduced to kinematics of 4-DOF position. Gradient projection method is used to optimize position for the robot. Then a group of optimized solution can be obtained based on optimizing position solution and close-form solution gotten by analytic method. Results of simulation on a 7-DOF robot show the effectiveness of the scheme.

KW - Inverse kinematics

KW - Jacobian matrix

KW - Real-time control

KW - Redundant robot

UR - https://www.scopus.com/pages/publications/61649125148

M3 - 文章

AN - SCOPUS:61649125148

SN - 1001-0920

VL - 24

SP - 176

EP - 180

JO - Kongzhi yu Juece/Control and Decision

JF - Kongzhi yu Juece/Control and Decision

IS - 2

ER -

Efficient inverse kinematics solution for redundant robots to realtime control

Abstract

Keywords

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