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Journal of Tsinghua University(Science and Technology)    2020, Vol. 60 Issue (12) : 1007-1015     DOI: 10.16511/j.cnki.qhdxxb.2020.25.019
Mechanical Engineering |
Inverse kinematic optimization for 7-DoF serial manipulators with joint limits
Kui HU,Jiwen ZHANG,Yunfei DONG,Dan WU*()
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
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Abstract  

An optimized inverse kinematic algorithm was developed for 7 degrees of freedom (7-DoF) manipulators with an S-R-S kinematic structure that avoids joint limits. The first step determines the closed-form solution of the inverse kinematics model based on the arm angle parameter. The result is then used to determine feasible arm angle intervals for the given joint limits. Then, an optimal weighted target function is defined to avoid the joint limits with the weights determined according to the joint positions. The relations between the joint angles and the arm angles are then linearized to simplify the complex optimal target function to a quadratic function. The optimization problem that includes the feasible arm angle intervals then avoids the joint limit. This intuitive, efficient algorithm is effective, avoids the joint limits and can be computed online.

Keywords redundant manipulator      inverse kinematics      joint limit avoidance      7-DoF     
Corresponding Authors: Dan WU     E-mail: wud@tsinghua.edu.cn
Issue Date: 14 October 2020
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Kui HU
Jiwen ZHANG
Yunfei DONG
Dan WU
Cite this article:   
Kui HU,Jiwen ZHANG,Yunfei DONG, et al. Inverse kinematic optimization for 7-DoF serial manipulators with joint limits[J]. Journal of Tsinghua University(Science and Technology), 2020, 60(12): 1007-1015.
URL:  
http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2020.25.019     OR     http://jst.tsinghuajournals.com/EN/Y2020/V60/I12/1007
  
10.16511/j.cnki.qhdxxb.2020.25.019.T001

机械臂D-H参数表

序号 ai di αi θi 关节范围/(°)
1 0 dBS - π/2 θ1 [θ1l, θ1u]
2 0 0 π/2 θ2 [θ2l, θ2u]
3 0 dSE - π/2 θ3 [θ3l, θ3u]
4 0 0 π/2 θ4 [θ4l, θ4u]
5 0 dEW - π/2 θ5 [θ5l, θ5u]
6 0 0 π/2 θ6 [θ6l, θ6u]
7 0 dWF 0 θ7 [θ7l, θ7u]
  
  
  
  
  
  
  
  
  
10.16511/j.cnki.qhdxxb.2020.25.019.T002

不同算法计算的圆弧轨迹最终关节位置表

关节 圆弧轨迹最终关节位置/(°)
非优化算法 本文算法 文[3]算法
1 8.69 6.27 26.16
2 85.95 98.68 78.63
3 57.17 101.31 -11.72
4 35.39 35.39 35.39
5 -26.49 -75.30 52.30
6 -124.31 -113.16 -119.59
7 -24.39 -34.68 -0.47
  
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