Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance
Autor(a) principal: | |
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Data de Publicação: | 2018 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/48313 |
Resumo: | This paper presents a novel analytic method to uniquely solve inverse kinematics of 7 degrees-of-freedom manipulators while avoiding joint limits and singularities. Two auxiliary parameters are introduced to deal with the self-motion manifolds: the global configuration (GC), which specifies the branch of inverse kinematics solutions; and the arm angle (ψ) that parametrizes the elbow redundancy within the specified branch. The relations between the joint angles and the arm angle are derived, in order to map the joint limits and singularities to arm angle values. Then, intervals of feasible arm angles for the specified target pose and global configuration are determined, taking joint limits and singularities into account. A simple metric is proposed to compute the elbow position according to the feasible intervals. When the arm angle is determined, the joint angles can be uniquely calculated from the position-based inverse kinematics algorithm. The presented method does not exhibit the disadvantages inherent to the use of the Jacobian matrix and can be implemented in real-time control systems. This novel algorithm is the first position-based inverse kinematics algorithm to solve both global and local manifolds, using a redundancy resolution strategy to avoid singularities and joint limits. |
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Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidanceAnalytic Inverse KinematicsConfiguration ControlJoint Limit AvoidanceSingularity AvoidanceEngenharia e Tecnologia::Engenharia MecânicaScience & TechnologyThis paper presents a novel analytic method to uniquely solve inverse kinematics of 7 degrees-of-freedom manipulators while avoiding joint limits and singularities. Two auxiliary parameters are introduced to deal with the self-motion manifolds: the global configuration (GC), which specifies the branch of inverse kinematics solutions; and the arm angle (ψ) that parametrizes the elbow redundancy within the specified branch. The relations between the joint angles and the arm angle are derived, in order to map the joint limits and singularities to arm angle values. Then, intervals of feasible arm angles for the specified target pose and global configuration are determined, taking joint limits and singularities into account. A simple metric is proposed to compute the elbow position according to the feasible intervals. When the arm angle is determined, the joint angles can be uniquely calculated from the position-based inverse kinematics algorithm. The presented method does not exhibit the disadvantages inherent to the use of the Jacobian matrix and can be implemented in real-time control systems. This novel algorithm is the first position-based inverse kinematics algorithm to solve both global and local manifolds, using a redundancy resolution strategy to avoid singularities and joint limits.This work was partially supported by the NETT Project [FP7-PEOPLE-2011-ITN-289146]; and Foundation for Science and Technology, Portugal [grant number SFRH/BD/86499/2012].info:eu-repo/semantics/publishedVersionElsevierUniversidade do MinhoFaria, CarlosFerreira, FloraErlhagen, WolframMonteiro, SérgioBicho, Estela2018-032018-03-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/1822/48313eng0094-114X10.1016/j.mechmachtheory.2017.10.025https://www.sciencedirect.com/science/article/pii/S0094114X17306559info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-21T12:10:22Zoai:repositorium.sdum.uminho.pt:1822/48313Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:01:58.430880Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance |
title |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance |
spellingShingle |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance Faria, Carlos Analytic Inverse Kinematics Configuration Control Joint Limit Avoidance Singularity Avoidance Engenharia e Tecnologia::Engenharia Mecânica Science & Technology |
title_short |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance |
title_full |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance |
title_fullStr |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance |
title_full_unstemmed |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance |
title_sort |
Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance |
author |
Faria, Carlos |
author_facet |
Faria, Carlos Ferreira, Flora Erlhagen, Wolfram Monteiro, Sérgio Bicho, Estela |
author_role |
author |
author2 |
Ferreira, Flora Erlhagen, Wolfram Monteiro, Sérgio Bicho, Estela |
author2_role |
author author author author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Faria, Carlos Ferreira, Flora Erlhagen, Wolfram Monteiro, Sérgio Bicho, Estela |
dc.subject.por.fl_str_mv |
Analytic Inverse Kinematics Configuration Control Joint Limit Avoidance Singularity Avoidance Engenharia e Tecnologia::Engenharia Mecânica Science & Technology |
topic |
Analytic Inverse Kinematics Configuration Control Joint Limit Avoidance Singularity Avoidance Engenharia e Tecnologia::Engenharia Mecânica Science & Technology |
description |
This paper presents a novel analytic method to uniquely solve inverse kinematics of 7 degrees-of-freedom manipulators while avoiding joint limits and singularities. Two auxiliary parameters are introduced to deal with the self-motion manifolds: the global configuration (GC), which specifies the branch of inverse kinematics solutions; and the arm angle (ψ) that parametrizes the elbow redundancy within the specified branch. The relations between the joint angles and the arm angle are derived, in order to map the joint limits and singularities to arm angle values. Then, intervals of feasible arm angles for the specified target pose and global configuration are determined, taking joint limits and singularities into account. A simple metric is proposed to compute the elbow position according to the feasible intervals. When the arm angle is determined, the joint angles can be uniquely calculated from the position-based inverse kinematics algorithm. The presented method does not exhibit the disadvantages inherent to the use of the Jacobian matrix and can be implemented in real-time control systems. This novel algorithm is the first position-based inverse kinematics algorithm to solve both global and local manifolds, using a redundancy resolution strategy to avoid singularities and joint limits. |
publishDate |
2018 |
dc.date.none.fl_str_mv |
2018-03 2018-03-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/48313 |
url |
http://hdl.handle.net/1822/48313 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
0094-114X 10.1016/j.mechmachtheory.2017.10.025 https://www.sciencedirect.com/science/article/pii/S0094114X17306559 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Elsevier |
publisher.none.fl_str_mv |
Elsevier |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799132420364042240 |