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Inverse kinematics of redundant manipulators with guaranteed performance

Published online by Cambridge University Press:  18 May 2021

Dongsheng Guo Open the ORCID record for Dongsheng Guo [Opens in a new window] ,
Aifen Li ,
Jianhuang Cai ,
Qingshan Feng  and
Yang Shi
Dongsheng Guo*
Affiliation:
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
Aifen Li
Affiliation:
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
Jianhuang Cai
Affiliation:
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
Qingshan Feng
Affiliation:
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
Yang Shi
Affiliation:
School of Information Engineering, Yangzhou University, Yangzhou 225127, China
*
*Corresponding author. Email: [email protected]
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Abstract

In this paper, the inverse kinematics (IK) of redundant manipulators is presented and studied, where the performance of end-effector path planning is guaranteed. A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied using a typical numerical difference rule to discretize the existing IK method based on JP. The proposed method is depicted in a discrete-time form and is theoretically proven to exhibit great performance in the IK of redundant manipulators. A discrete-time repetitive path planning (DTRPP) scheme and a discrete-time obstacle avoidance (DTOA) scheme are developed for redundant manipulators using the proposed method. Comparative simulations are conducted on a universal robot manipulator and a PA10 robot manipulator to validate the effectiveness and superior performance of the DTRPP scheme, the DTOA scheme, and the proposed JP-based IK method.

Keywords

Inverse kinematicsJacobian pseudoinverseRedundant manipulatorRepetitive path planningObstacle avoidance
Type
Article
Information
Robotica , Volume 40 , Issue 1 , January 2022 , pp. 170 - 190
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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