点击次数：
所属单位：机电学院
发表刊物：JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
关键字：Inverse kinematics Redundant manipulators Improved clamping weighted least-norm method Joint limits
摘要：A general method is presented for the inverse kinematics resolution of redundant manipulators with joint limits. The success of avoiding joint angular position limits of the original clamping weighted least-norm method is ascribable to the strength of the repulsive potential field function. However, the repulsive potential field function may lead to excessive joint angular velocities that can exceed the corresponding limits. We propose an improved clamping weighted least-norm method that adds an elastic field function into the original method for the sake of sustaining the constraints of joint angular velocity limits. Moreover, for hierarchical task-level construction, the priority of avoiding joint angular velocity limits is lower than that of avoiding joint angular position limits. To adequately illustrate the effectiveness of the proposed method, case studies were performed in comparison with other methods in singular configurations of a redundant manipulator.
ISSN号：1738-494X
是否译文：否
发表时间：2018-03-01
合写作者：Wan, Jun,Ma, Rui,Zhang, Liang'an
通讯作者：吴洪涛