An efficient approach for inverse kinematics and redundancy resolution scheme of hyper-redundant manipulators

Chembuly, V. V. M. J. Satish; Voruganti, Hari K.

doi:10.1063/1.5029595

Cited by 3 publications

(1 citation statement)

References 13 publications

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“…To the authors knowledge these same techniques have been applied very rarely to PKMs as in [8]. For the sake of the completeness, we must point out that recently these classical schemes have been applied to the hyper-redundant manipulators [9,10] as well as algorithms based on the machine learning have been applied to the redundancy resolution [11].…”

Section: Introductionmentioning

confidence: 99%

Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators

Ruggiu

Müller

2021

Robotics

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Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators. An important question, with high practical relevance, is whether the inverse kinematics solution is cyclic, i.e., whether the redundancy solution leads to a closed path in joint space as a solution of a closed path in task space. This paper investigates the cyclicity property of two widely used redundancy resolution methods, namely the projected gradient method (PGM) and the augmented Jacobian method (AJM), by means of examples. Both methods determine solutions that minimize an objective function, and from an application point of view, the sensitivity of the methods on the initial configuration is crucial. Numerical results are reported for redundant serial robotic arms and for redundant parallel kinematic manipulators. While the AJM is known to be cyclic, it turns out that also the PGM exhibits cyclicity. However, only the PGM converges to the local optimum of the objective function when starting from an initial configuration of the cyclic trajectory.

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Section: Introductionmentioning

confidence: 99%

Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators

Ruggiu

Müller

2021

Robotics

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Obstacle avoidance algorithm based on improved gradient projection method for continuum robot

2019

2019 IEEE 3rd Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC)

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A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots

Simas

Gregorio

2019

Journal of Mechanisms and Robotics

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The extended Jacobian is a technique for solving the redundancy of redundant robots. It is based on the definition of secondary tasks, through constraint functions that are added to the mapping between joint rates and end-effector's twist. Several approaches showed its potential, applications, and limitations. In general, the constraint functions are a linear combination of basic functions with constant coefficients. This paper proposes the use of adaptive coefficients in such functions by using the conditioning index of the extended Jacobian as a quality measure. A good conditioning index of the extended Jacobian keeps the robot far from singularities and contributes to the solution of the inverse kinematics. In this paper, initially, the extended Jacobian and the proposed algorithm are discussed, and then, two tests in different circumstances are presented in order to validate the proposal.

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An efficient approach for inverse kinematics and redundancy resolution scheme of hyper-redundant manipulators

Cited by 3 publications

References 13 publications

Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators

Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators

Obstacle avoidance algorithm based on improved gradient projection method for continuum robot

A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots

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