A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits

被引:67
作者
Antonelli, G [1 ]
Chiaverini, S [1 ]
Fusco, G [1 ]
机构
[1] Univ Cassino, Dipartimento Automaz Elettromagnetismo Ingn Infor, I-03043 Cassino, FR, Italy
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 01期
关键词
inverse kinematics algorithms; kinematic control; path tracking;
D O I
10.1109/TRA.2002.807543
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The presence of joint velocity and acceleration limits must be taken into account, by the inverse kinematics of robot manipulators, so as to avoid incorrect task execution when these are violated. To solve this problem, a novel algorithmic approach to kinematic control is presented in this paper, which guarantees that the joint variables do not overtake their limits. The proposed technique is based on a new second-order inverse kinematics algorithm, which enables the handling of velocity and acceleration constraints while tracking the desired end-effector path. The goal is achieved by suitably slowing down the task-space trajectory via a time warp when joints limits are encountered. The proposed method is designed for on-line applications, i.e., the desired trajectory is not known in advance, and requires a light computational burden. The application of the proposed approach is finally illustrated in experiments implemented on a six-degree-of-freedom industrial robot manipulator.
引用
收藏
页码:162 / 167
页数:6
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