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Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry

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  • Robotics and Automation
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Abstract

In this paper, the inverse kinematics (IK) for robot manipulators with Pieper-Criterion based geometry is investigated from a novel perspective. Different from the traditional inverse transformation method, properties on orthogonal matrix, dot product operation and block matrix are synthetically involved in the proposed schemes to help simplify the IK solving, where the IK matrix equations are transformed into pure algebraic equations without any complex calculations of the inverses for transformation matrices. In the meantime, the linear combinations of related equations in the IK solving ensure the solutions free of extraneous roots, which enhances the computational efficiency further. Moreover, the singularity problem is fully addressed for a specific robot manipulator of such kind. Finally, experimental tests are provided to verify the proposed IK schemes.

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Author information

Authors and Affiliations

  1. College of Information Science and Technology, Donghua University, Shanghai, 201620, China

    Huashan Liu

  2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China

    Yang Zhang

  3. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Shiqiang Zhu

Authors
  1. Huashan Liu
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  2. Yang Zhang
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  3. Shiqiang Zhu
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Corresponding author

Correspondence to Huashan Liu.

Additional information

Recommended by Associate Editor Yangmin Li under the direction of Editor Hyouk Ryeol Choi.

This work has been sponsored by the National Natural Science Foundation of China (61203337), the State Scholarship Fund (201406635025), the Specialized Research Fund for the Doctoral Program of Higher Education (20120075120009), the Natural Science Foundation of Shanghai (12ZR1440200), the Fundamental Research Funds for the Central Universities (2232012D318), the DHU Distinguished Young Professor Program (B2013 09), the Young Teacher Training Program for the Shanghai Universities (DHU11035) and the “Chen Guang” project supported by Shanghai Municipal Education Commission and Shanghai Education Development Foundation (13CG29).

Huashan Liu received his B.E. degree in Mechanical Engineering from Wuhan University, Wuhan, China, and his Ph.D. degree in Mechanical Engineering from Zhejiang University, Hangzhou, China, in 2005 and 2010, respectively. Since 2010, he has been with the College of Information Science and Technology, Donghua University, Shanghai, China, where he is currently an associate professor. His current research interests include robotics and mechatronics.

Yang Zhang received his B.E. and Ph.D. degrees in Mechanical Engineering from Zhejiang University, Hangzhou, China, in 2005 and 2011, respectively. Since 2011, he has been with the State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Science, Shenyang, China, where he is currently an associate professor. His research interests include mechatronic system of robotics and intelligent systems.

Shiqiang Zhu received his B.E. and Ph.D. degrees in Mechanical Engineering from Zhejiang University, Hangzhou, China, in 1988 and 1995, respectively, and his M.E. degree in Mechanical Engineering from Beijing Institute of Technology, Beijing, China, in 1991. Since 1995, he has been with the Department of Mechanical Engineering, Zhejiang University, where he is currently a professor and Vice Director of Zhejiang University Robotics Research Center. His research interests include the areas of robotics, mechatronics and advanced motion control. Professor Zhu currently serves as a member of Experts Group on the Robotics Standardization of China National Standardization Management Commission and TC59 W16 Domestic Robot Standardization of International Electro-Technical Commission.

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Liu, H., Zhang, Y. & Zhu, S. Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry. Int. J. Control Autom. Syst. 13, 1242–1250 (2015). https://doi.org/10.1007/s12555-013-0440-y

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  • DOI: https://doi.org/10.1007/s12555-013-0440-y

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