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A study on avoiding joint limits for inverse kinematics of redundant manipulators using improved clamping weighted least-norm method

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Abstract

A general method is presented for the inverse kinematics resolution of redundant manipulators with joint limits. The success of avoiding joint angular position limits of the original clamping weighted least-norm method is ascribable to the strength of the repulsive potential field function. However, the repulsive potential field function may lead to excessive joint angular velocities that can exceed the corresponding limits. We propose an improved clamping weighted least-norm method that adds an elastic field function into the original method for the sake of sustaining the constraints of joint angular velocity limits. Moreover, for hierarchical task-level construction, the priority of avoiding joint angular velocity limits is lower than that of avoiding joint angular position limits. To adequately illustrate the effectiveness of the proposed method, case studies were performed in comparison with other methods in singular configurations of a redundant manipulator.

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, 210016, China

    Jun Wan, HongTao Wu & Rui Ma

  2. School of Mechanical & Aerospace Engineering, Nanyang Technological University, Nanyang, 639798, Singapore

    Rui Ma

  3. Department of Mechanical Engineering, Anhui University of Technology, Maanshan, 243032, China

    Liang’an Zhang

Authors
  1. Jun Wan
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  2. HongTao Wu
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  3. Rui Ma
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  4. Liang’an Zhang
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Corresponding author

Correspondence to Jun Wan.

Additional information

Recommended by Associate Editor Baek-Kyu Cho

Jun Wan received the B.S. in Mechanical Engineering and Automation from Anhui University of Technology, China, in 2012 and the M.S. in Mechanical and Electrical Engineering from Anhui University of Technology, China, in 2015. He is currently a Ph.D. candidate in Mechanical and Electrical Engineering with Nanjing University of Aeronautics and Astronautics, China. His research interests include redundant robotics, nonlinear adaptive and robust control with applications to robotic systems and mechatronics.

HongTao Wu received the Ph.D. in Mechanical Engineering from Tianjin University, China, in 1992. He is currently a Professor with The College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics. His research interests include multibody dynamics, parallel robotics and industrial automation and micro electro mechanical system.

Rui Ma received the M.S. in Solid Mechanics from Jiangsu University, China, in 2014. He is currently a Ph.D. candidate in Mechanical and Electrical Engineering with Nanjing University of Aeronautics and Astronautics, China. His research interests include visonbased control, autonomous flight control and artificial intelligence with applications to unmanned aerial vehicles.

Liang’an Zhang received the B.S. in Mechanical Engineering and Automation from Harbin Institute of Technology, China, in 2004 and the M.S. and Ph.D. both in Mechanical Engineering and Automation from Tianjin University, China, in 2007 and 2010, respectively. He is an Associate Professor with the Mechanical Engineering Department at Anhui University of Technology, China, since 2012. He is the Chief Executive of Anhui Hiseed Robot Company Limited, China. His research interests include modeling and nonlinear control of robotics, mechatronic integration and applications to robotic systems.

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Wan, J., Wu, H., Ma, R. et al. A study on avoiding joint limits for inverse kinematics of redundant manipulators using improved clamping weighted least-norm method. J Mech Sci Technol 32, 1367–1378 (2018). https://doi.org/10.1007/s12206-018-0240-7

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  • DOI: https://doi.org/10.1007/s12206-018-0240-7

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