Turkish Journal of Electrical Engineering and Computer Sciences, ( ISI ), Volume (25), No (5), Year (2017-10)

Title : ( Inverse kinematics of a 7 DOF redundant robot manipulator using active set approach under joint physical limits )

Authors: Modjtaba Rouhani , Sima Ebrahimabadi ,

Citation: BibTeX | EndNote

This paper presents a new approach to online solution of inverse kinematics problem based on nonlinear optimization for robots with joints physical constraints. The inverse kinematics problem is stated as a constrained nonlinear optimization problem and is solved using Kuhn-Tucker conditions analysis. Nonlinear multivariable optimization problem is locally converted into independent local linear constrained sub-problems and each sub-problem is solved analytically. For each joint, position limits and velocity limits are considered as physical constraints. The proposed structure benefits from a very low complexity design. The proposed method is fast and requires few calculations. The convergence of proposed algorithm is proven based on a Lyapunov function. While keeping the algorithm stable, it can navigate the manipulator to a desired position under joints physical limits. The algorithm is simulated on a 7 DOF PA-10 manipulator. Results indicate good efficiency for the proposed structure in constrained path planning of joint space.

Keywords

, Inverse kinematics; redundant manipulator; active set, joint physical limits, Lyapunov
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@article{paperid:1061799,
author = {Rouhani, Modjtaba and Sima Ebrahimabadi},
title = {Inverse kinematics of a 7 DOF redundant robot manipulator using active set approach under joint physical limits},
journal = {Turkish Journal of Electrical Engineering and Computer Sciences},
year = {2017},
volume = {25},
number = {5},
month = {October},
issn = {1300-0632},
keywords = {Inverse kinematics; redundant manipulator; active set; joint physical limits; Lyapunov analysis},
}

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%0 Journal Article
%T Inverse kinematics of a 7 DOF redundant robot manipulator using active set approach under joint physical limits
%A Rouhani, Modjtaba
%A Sima Ebrahimabadi
%J Turkish Journal of Electrical Engineering and Computer Sciences
%@ 1300-0632
%D 2017

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