A fractional approach for the motion planning of redundant and hyper-redundant manipulators

Abstract

The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order a to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position.The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of a in order to get repetitive trajectories in the joint space.

Acceleration-Level Obstacle Avoidance of Redundant Manipulators

“…In addition, only the PA10 end-effector position is considered in the simulations. Table 1 presents the joint-physical limits of this manipulator, and the coefficients involved in (13) are set as ϑ = 0.1 and κ p = κ v = 25. The feedback gains involved in (8) are set as α = β = 1.75.…”

“…For example, in [11], an obstacle-avoidance scheme with Jacobian transpose for redundant manipulators is presented. In [13], a pseudoinverse-based scheme with multi-objective achievement for avoiding obstacle is investigated. In [15], an obstacle-avoidance scheme with noise tolerance for redundant manipulators is developed.…”

Feedback-Added Pseudoinverse-Type Balanced Minimization Scheme for Kinematic Control of Redundant Robot Manipulators

“…On the basis of the above formulations, the pseudoinversetype technique is depicted in an analytical-solution form, and it can thus solve the redundancy resolution problem readily. This significant characteristic has popularized the research and application of the pseudoinverse-type technique in the past decades [1], [2], [14], [15], [17], [19], [21]- [23], [32]- [36].…”

“…This technique is a powerful alternative for the kinematic control of redundant robot manipulators. By exploiting the pseudoinverse-type technique, many studies have been reported on redundant robot manipulators [14], [15], [17], [19], [21]- [27].…”

An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method

“…Many studies have been presented to solve the obstacle avoidance issue for redundant manipulators. Among these works, the first group of works involves the use of Jacobian pseudo-inverse [10,11,12,13,14,15]. In this kind of method, the inverse kinematics solution of manipulators is expressed as a sum of a minimum-norm special solution and a general solution that contains an arbitrary vector.…”