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Aiming at the velocity jump caused by joint failure of manipulator, a method is proposed to reduce velocity jumps in both Cartesian space and joint space. Based on the analysis of velocity jump, the reduction problem is turned into an optimization problem of finding the best compensation vector for joint velocity. The gradient of the reduced manipulability is applied to represent the weight for joint...
This paper presents a novel autonomous obstacle avoidance algorithm for robotic manipulators in joint space. First, a method is proposed to obtain collision-free configuration of manipulator that converts point to point task into path planning problem of manipulators in joint space. Then, an interpolating polynomial is used for manipulator to plan a smooth trajectory in joint space. Last, a novel...
Based on the screw product exponentials formula and space Jacobi matrix, a general iterative algorithm on inverse kinematics is proposed for humanoid upper body system. First the screw coordinate is built for the system and forward kinematics equation is established. Then the inverse kinematics problem of the system is solved based on the Newton-Raphson iterative method. The results of numerical simulations...
It has great significance to analyze the kinematics reliability of the manipulator, which can reflect the motion performance comprehensively. In paper, kinematics reliability of manipulator is discussed, and the mathematical description is derived when the manipulator is kinematics reliable. Taking elasticity factors into account, a multi-level model for the pose (position and posture) accuracy of...
A complete closed-form solution to the inverse kinematics problem for a 4-DOF manipulator robot is proposed. With the discussion of the existence of the offset and the distance between the axis of 1st joint and 2nd joint, all the possible solutions and singular configurations are presented. “Task attitude” is defined to describe the orientation of the end effector, which is convenient to solve the...
Due to space robot meeting the constraint of conservation of angular momentum, which can not be analytically integrated, space robot is with the non-holonomic characteristic. In this paper, the algorithm of non-holonomic path planning base on Newton iteration is proposed. Firstly, the kinematics model is established and the non-holonomic characteristic is analyzed. Secondly, the functions of the joint...
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