Inverse Kinematics of Redundant Manipulators With Dynamic Bounds on Joint Movements

Faroni, Marco; Beschi, Manuel; Pedrocchi, Nicola

doi:10.1109/lra.2020.3013879

Cited by 11 publications

(4 citation statements)

References 36 publications

(63 reference statements)

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“…3) MPC Schemes: Model predictive controllers have been proposed to address drawbacks of locally optimal controllers [31], [32]. Given that control performance is considered over a finite-time horizon [33]- [35], MPC provides a powerful option to fulfill control objectives of multiple tasks while constraints are not violated.…”

Section: A Related Workmentioning

confidence: 99%

“…Given that control performance is considered over a finite-time horizon [33]- [35], MPC provides a powerful option to fulfill control objectives of multiple tasks while constraints are not violated. Nevertheless, in [31], [32], the task hierarchy is acquired via a weight-prioritized optimization problem [36]. It results in a soft task-prioritized inverse kinematics control scheme.…”

Section: A Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach

Wang,

Liu,

Leibold

et al. 2024

IEEE Trans. Robot.

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Section: A Related Workmentioning

confidence: 99%

Section: A Related Workmentioning

confidence: 99%

Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach

Wang,

Liu,

Leibold

et al. 2024

IEEE Trans. Robot.

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“…The trajectory of the joint space of our manipulator was planned through fifth-order polynomial interpolation [18][19]. The first step is to constrain the joint angle, joint speed and joint acceleration of the start and end positions.…”

Section: Simulation Verification Of Working Trajectorymentioning

confidence: 99%

Simulation Design of a Tomato Picking Manipulator

Zhang

et al. 2021

Teh. vjesn.

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Simulation is an important way to verify the feasibility of design parameters and schemes for robots. Through simulation, this paper analyzes the effectiveness of the design parameters selected for a tomato picking manipulator, and verifies the rationality of the manipulator in motion planning for tomato picking. Firstly, the basic parameters and workspace of the manipulator were determined based on the environment of a tomato greenhouse; the workspace of the lightweight manipulator was proved as suitable for the picking operation through MATLAB simulation. Next, the maximum theoretical torque of each joint of the manipulator was solved through analysis, the joint motors were selected reasonably, and SolidWorks simulation was performed to demonstrate the rationality of the material selected for the manipulator and the strength design of the joint connectors. After that, the trajectory control requirements of the manipulator in picking operation were determined in view of the operation environment, and the feasibility of trajectory planning was confirmed with MATLAB. Finally, a motion control system was designed for the manipulator, according to the end trajectory control requirements, followed by the manufacturing of a prototype. The prototype experiment shows that the proposed lightweight tomato picking manipulator boasts good kinematics performance, and basically meets the requirements of tomato picking operation: the manipulator takes an average of 21 s to pick a tomato, and achieves a success rate of 78.67%.

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“…Other methods can be found in Refs. [36][37][38]. However, the previous method based on arm angle parameterization is only suitable for the SRS manipulator.…”

Section: Introductionmentioning

confidence: 99%

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Xie

Jiang

et al. 2021

Front. Mech. Eng.

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Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configuration control. Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese Space Station Remote Manipulator System. However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult. This study proposes a high-precision, semi-analytical inverse method for EMMs. Firstly, the analytical inverse kinematic solution is established based on joint angle parameterization. Secondly, the analytical inverse kinematic solution for a non-offset spherical-roll-spherical (SRS) redundant manipulator is derived based on arm angle parameterization. The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator. Thirdly, the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization. After selecting the stride and termination condition, the precise inverse solution is computed for the EMM based on arm angle parameterization. Lastly, case solutions confirm that this method has high precision, and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

show abstract

Inverse Kinematics of Redundant Manipulators With Dynamic Bounds on Joint Movements

Cited by 11 publications

References 36 publications

Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach

Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach

Simulation Design of a Tomato Picking Manipulator

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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