Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method

Jian Li; Yixiang Liu; Xizhe Zang

doi:10.1109/IAEAC.2018.8577627

Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method

Jian Li
, Yixiang Liu^*
, Xizhe Zang

^*Corresponding author for this work

School of Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

Inverse kinematics is quite an important issue for redundant manipulator arms. This paper presents the kinematics analysis including forward kinematics and inverse kinematics for a large-scale heavy-load redundant manipulator arm. Firstly, the overview of the heavy-load redundant manipulator arm which is developed for a multi-purpose remote maintenance system for tokamak is introduced. After that, the forward kinematics of the manipulator arm is analyzed using D-H method, and simulated in Matlab. Finally, the inverse kinematics of the manipulator arm is investigated by combining the gradient projection method and obstacle avoidance optimization in order to solve the redundancy of the manipulator arm. The work in this paper is the basis for path planning of redundant manipulator arms.

Original language	English
Title of host publication	Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018
Editors	Bing Xu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	260-264
Number of pages	5
ISBN (Electronic)	9781538645086
DOIs	https://doi.org/10.1109/IAEAC.2018.8577627
State	Published - 14 Dec 2018
Event	3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018 - Chongqing, China Duration: 12 Oct 2018 → 14 Oct 2018

Publication series

Name	Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018

Conference

Conference	3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018
Country/Territory	China
City	Chongqing
Period	12/10/18 → 14/10/18

Keywords

gradient projection method
heavy-load redundant manipulator arm
kinematics analysis

Access to Document

10.1109/IAEAC.2018.8577627

Cite this

Li, J., Liu, Y., & Zang, X. (2018). Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method. In B. Xu (Ed.), Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018 (pp. 260-264). Article 8577627 (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IAEAC.2018.8577627

Li, Jian ; Liu, Yixiang ; Zang, Xizhe. / Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method. Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018. editor / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 260-264 (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018).

@inproceedings{152efb36a67346d293ce8d94ab051c21,

title = "Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method",

abstract = "Inverse kinematics is quite an important issue for redundant manipulator arms. This paper presents the kinematics analysis including forward kinematics and inverse kinematics for a large-scale heavy-load redundant manipulator arm. Firstly, the overview of the heavy-load redundant manipulator arm which is developed for a multi-purpose remote maintenance system for tokamak is introduced. After that, the forward kinematics of the manipulator arm is analyzed using D-H method, and simulated in Matlab. Finally, the inverse kinematics of the manipulator arm is investigated by combining the gradient projection method and obstacle avoidance optimization in order to solve the redundancy of the manipulator arm. The work in this paper is the basis for path planning of redundant manipulator arms.",

keywords = "gradient projection method, heavy-load redundant manipulator arm, kinematics analysis",

author = "Jian Li and Yixiang Liu and Xizhe Zang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018 ; Conference date: 12-10-2018 Through 14-10-2018",

year = "2018",

month = dec,

day = "14",

doi = "10.1109/IAEAC.2018.8577627",

language = "英语",

series = "Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "260--264",

editor = "Bing Xu",

booktitle = "Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018",

address = "美国",

}

Li, J, Liu, Y & Zang, X 2018, Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method. in B Xu (ed.), Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018., 8577627, Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 260-264, 3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018, Chongqing, China, 12/10/18. https://doi.org/10.1109/IAEAC.2018.8577627

Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method. / Li, Jian; Liu, Yixiang; Zang, Xizhe.
Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018. ed. / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. p. 260-264 8577627 (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method

AU - Li, Jian

AU - Liu, Yixiang

AU - Zang, Xizhe

PY - 2018/12/14

Y1 - 2018/12/14

N2 - Inverse kinematics is quite an important issue for redundant manipulator arms. This paper presents the kinematics analysis including forward kinematics and inverse kinematics for a large-scale heavy-load redundant manipulator arm. Firstly, the overview of the heavy-load redundant manipulator arm which is developed for a multi-purpose remote maintenance system for tokamak is introduced. After that, the forward kinematics of the manipulator arm is analyzed using D-H method, and simulated in Matlab. Finally, the inverse kinematics of the manipulator arm is investigated by combining the gradient projection method and obstacle avoidance optimization in order to solve the redundancy of the manipulator arm. The work in this paper is the basis for path planning of redundant manipulator arms.

AB - Inverse kinematics is quite an important issue for redundant manipulator arms. This paper presents the kinematics analysis including forward kinematics and inverse kinematics for a large-scale heavy-load redundant manipulator arm. Firstly, the overview of the heavy-load redundant manipulator arm which is developed for a multi-purpose remote maintenance system for tokamak is introduced. After that, the forward kinematics of the manipulator arm is analyzed using D-H method, and simulated in Matlab. Finally, the inverse kinematics of the manipulator arm is investigated by combining the gradient projection method and obstacle avoidance optimization in order to solve the redundancy of the manipulator arm. The work in this paper is the basis for path planning of redundant manipulator arms.

KW - gradient projection method

KW - heavy-load redundant manipulator arm

KW - kinematics analysis

UR - https://www.scopus.com/pages/publications/85060390844

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BT - Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018

A2 - Xu, Bing

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018

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ER -

Li J, Liu Y, Zang X. Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method. In Xu B, editor, Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 260-264. 8577627. (Proceedings of 2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2018). doi: 10.1109/IAEAC.2018.8577627

Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method

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