TY - GEN
T1 - Gradient projection method of kinematically redundant manipulator based on improved scale factor
AU - Lu, Shaotian
AU - Zhao, Jingdong
AU - Jiang, Li
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/3/2
Y1 - 2015/3/2
N2 - This paper firstly introduces the research status of gradient projection method (GPM) of redundant manipulator, then presents a 7-DOF (degree of freedom) redundant manipulator composes of a 3-DOF shoulder joint, a 1-DOF elbow joint, and a 3-DOF wrist joint. Different from many other 7-DOF redundant manipulators, shoulder and wrist joints of the manipulator presented in paper are not spherical joints. The GPM is provided for inverse kinematics analysis. Scale factor is an important parameter in GPM, if the scale factor is utilized improperly, it can cause the GPM invalid or enable computational efficiency low. In this paper the improved scale factor is proposed in GPM. At last, the simulations of the GPM based on fixed scale factor, balanced scale factor and improved scale factor method are compared, the simulations demonstrated the improved scale factor method can overcome velocity impulses shortcoming of the fixed scale factor method, and rectify deficiency of the balanced scale factor method.
AB - This paper firstly introduces the research status of gradient projection method (GPM) of redundant manipulator, then presents a 7-DOF (degree of freedom) redundant manipulator composes of a 3-DOF shoulder joint, a 1-DOF elbow joint, and a 3-DOF wrist joint. Different from many other 7-DOF redundant manipulators, shoulder and wrist joints of the manipulator presented in paper are not spherical joints. The GPM is provided for inverse kinematics analysis. Scale factor is an important parameter in GPM, if the scale factor is utilized improperly, it can cause the GPM invalid or enable computational efficiency low. In this paper the improved scale factor is proposed in GPM. At last, the simulations of the GPM based on fixed scale factor, balanced scale factor and improved scale factor method are compared, the simulations demonstrated the improved scale factor method can overcome velocity impulses shortcoming of the fixed scale factor method, and rectify deficiency of the balanced scale factor method.
KW - Gradient projection method
KW - Inverse kinematics
KW - Redundant manipulator
UR - https://www.scopus.com/pages/publications/84932167251
U2 - 10.1109/WCICA.2014.7053554
DO - 10.1109/WCICA.2014.7053554
M3 - 会议稿件
AN - SCOPUS:84932167251
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 4955
EP - 4960
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -