期刊
APPLIED SCIENCES-BASEL
卷 8, 期 11, 页码 -出版社
MDPI
DOI: 10.3390/app8112229
关键词
computing time; inverse kinematics; joint limit avoidance; kinematic singularity; manipulator; obstacle avoidance; potential field
类别
资金
- Slovak Grant Agency [VEGA1/0872/16, VEGA 1/0389/18]
Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introduces a new algorithm for the control of kinematically-redundant manipulator considering three secondary tasks, namely a joint limit avoidance task, a kinematic singularities avoidance task, and an obstacle avoidance task. For path planning of end-effector from start to goal point, the potential field method is used. The final inverse kinematic model is designed by a Jacobian-based method considering weight matrices in order to prioritize particular tasks. Our approach is based on the flexible behavior of priority value due to the acceleration of numerical simulation. The results of the simulations show the advantage of our approach, which results in a significant decrease of computing time.
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