TY - GEN
T1 - Inverse Kinematics of a Reconfigurable Space Manipulator Based on the Closed-Loop Algorithm
AU - Zhao, Zhiyuan
AU - Yang, Xiaohang
AU - Xu, Zichun
AU - Li, Yuntao
AU - Tian, Zhonglai
AU - Zhao, Jingdong
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper investigates a reconfigurable space manipulator's inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs' locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods' effectiveness.
AB - This paper investigates a reconfigurable space manipulator's inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs' locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods' effectiveness.
KW - Closed-loop algorithm
KW - Inverse kinematics
KW - Joint limit avoidance
KW - Reconfigurable manipulator
KW - Redundant manipulator
UR - https://www.scopus.com/pages/publications/85170825768
U2 - 10.1109/ICMA57826.2023.10215735
DO - 10.1109/ICMA57826.2023.10215735
M3 - 会议稿件
AN - SCOPUS:85170825768
T3 - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
SP - 1003
EP - 1008
BT - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th IEEE International Conference on Mechatronics and Automation, ICMA 2023
Y2 - 6 August 2023 through 9 August 2023
ER -