Inverse kinematics of redundant manipulators with guaranteed performance. Issue 1 (18th January 2022)

• Record Type: Journal Article
• Authors: Guo, Dongsheng; Li, Aifen; Cai, Jianhuang; Feng, Qingshan; Shi, Yang
• Is Part Of: Robotica. Volume 40:Issue 1(2022)
• Page Start: 170
• Page End: 190
• Publication Date: 2022-01-18
• Subjects: Inverse kinematics -- Jacobian pseudoinverse -- Redundant manipulator -- Repetitive path planning -- Obstacle avoidance; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S026357472100045X
• Languages: English
• ISSNs: 0263-5747

Abstract

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.