Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits*. (3rd August 2021)

• Record Type: Journal Article
• Authors: Sekiguchi, Masanori; Takesue, Naoyuki
• Is Part Of: Advanced robotics. Volume 35:Number 15(2021)
• Page Start: 919
• Page End: 926
• Publication Date: 2021-08-03
• Subjects: Inverse kinematics -- extended angle-axis vector -- joint limits -- manipulator -- deadlock; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2021.1928545
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : In this paper, a new inverse kinematics strategy is proposed for avoiding deadlock caused by joint limits. The proposed method is a combination of the conventional numerical method for inverse kinematics and an extended angle-axis vector. The extended angle-axis vector, instead of Euler angles, represents the orientation error. In the proposed method, the rotation direction of the end effector is changed by using the extended angle-axis vector to avoid deadlock. This paper describes the specific parameters included in the extended angle-axis vector that are necessary to change the rotation direction. The effectiveness of the proposed method was verified through simulations using a 9-degree-of-freedom robot. The proposed method is expected to be useful for solving inverse kinematics problems, which remain analytically unresolved. GRAPHICAL ABSTRACT: UF0001