EFFECIENT INVERSE KINEMATIC SOLUTION

FOR REDUNDANT MANIPULATORS

Zu Di  Wu Zhenwei  Tan Dalong

(Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016)

Abstract: A valid and efficient inverse kinematic computation scheme for seven-degree-of-freedom (7-DOF) redundant manipulators is proposed. The scheme uses two-phase calculations: one is the gradient projection method for optimization; the other is the fixed joint-angle method for increasing the precision. A group of optimized solution can be obtained from the proposed algorithm. Implementation of the scheme on a 7-DOF manipulator is described. Comparisons are made with respect to precision in calculation between the gradient projection optimization method and the two-phase calculations. Computational time is test in the PCM-3350 controller, and it demonstrates the proposed algorithm is well suited for real-time implementation.

Key words: Two-phase calculations  Redundant manipulator  Inverse kinematics  Jacobian

CLC No: TP24

国家863高科技基金资助项目(2001AA22170). Received 20040508, received in revised form 20050110