Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator
In order to solve the problem of multiple solutions in inverse kinematics of redundant manipulator，taking the 7DOF-S universal manipulator of Jaco2 as the object，an inverse kinematics algorithm combined with analysis and geometry based on coordinate transformation is proposed. According to the geome...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-06-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.011 |
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| author | Mingsong Zhang Jinzhi Xiao Enheng Wang Qiao Zhuang |
| author_facet | Mingsong Zhang Jinzhi Xiao Enheng Wang Qiao Zhuang |
| author_sort | Mingsong Zhang |
| collection | DOAJ |
| description | In order to solve the problem of multiple solutions in inverse kinematics of redundant manipulator，taking the 7DOF-S universal manipulator of Jaco2 as the object，an inverse kinematics algorithm combined with analysis and geometry based on coordinate transformation is proposed. According to the geometry structure of the manipulator，the unique solution of the middle angle is derived，and the other joint angles are obtained by mapping. It is verified by Matlab Robotic Toolbox and Simulink modules that the algorithm has high accuracy and operation efficiency. Based on the verified kinematics model，a quintic interpolation algorithm based on rough and accurate interpolation is proposed. The calculation results of trajectory planning verified by Matlab show that the continuity and stability of each joint rotation are better. |
| format | Article |
| id | doaj-art-db28061eaa0d4e0b93149c159bc0804e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-db28061eaa0d4e0b93149c159bc0804e2025-01-10T14:48:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-06-0145717611256267Inverse Kinematical Solving and Trajectory Planning of Redundant ManipulatorMingsong ZhangJinzhi XiaoEnheng WangQiao ZhuangIn order to solve the problem of multiple solutions in inverse kinematics of redundant manipulator，taking the 7DOF-S universal manipulator of Jaco2 as the object，an inverse kinematics algorithm combined with analysis and geometry based on coordinate transformation is proposed. According to the geometry structure of the manipulator，the unique solution of the middle angle is derived，and the other joint angles are obtained by mapping. It is verified by Matlab Robotic Toolbox and Simulink modules that the algorithm has high accuracy and operation efficiency. Based on the verified kinematics model，a quintic interpolation algorithm based on rough and accurate interpolation is proposed. The calculation results of trajectory planning verified by Matlab show that the continuity and stability of each joint rotation are better.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.011Redundant manipulatorInverse kinematicsTrajectory planning |
| spellingShingle | Mingsong Zhang Jinzhi Xiao Enheng Wang Qiao Zhuang Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator Jixie chuandong Redundant manipulator Inverse kinematics Trajectory planning |
| title | Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator |
| title_full | Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator |
| title_fullStr | Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator |
| title_full_unstemmed | Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator |
| title_short | Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator |
| title_sort | inverse kinematical solving and trajectory planning of redundant manipulator |
| topic | Redundant manipulator Inverse kinematics Trajectory planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.011 |
| work_keys_str_mv | AT mingsongzhang inversekinematicalsolvingandtrajectoryplanningofredundantmanipulator AT jinzhixiao inversekinematicalsolvingandtrajectoryplanningofredundantmanipulator AT enhengwang inversekinematicalsolvingandtrajectoryplanningofredundantmanipulator AT qiaozhuang inversekinematicalsolvingandtrajectoryplanningofredundantmanipulator |