Kinematic control of redundant robots with guaranteed joint limit avoidance
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- 作者：Abdelrahem AtawnihaAuthor Vitae ; Dimitrios Papageorgioua ; b ; dimpapag@iti.gr" class="auth_mail" title="E-mail the corresponding author ; dimpapag@eng.auth.gr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Zoe Doulgeria ; b ; doulgeri@iti.gr" class="auth_mail" title="E-mail the corresponding author ; doulgeri@eng.auth.gr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：Redundant robots ; Inverse kinematics ; Joint limits
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：May 2016
- 年：2016
- 卷：79
- 期：Complete
- 页码：122-131
- 全文大小：1749 K
文摘
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A novel kinematic control signal guaranteeing joint limit avoidance is proposed.
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In sensor driven tasks it generates feasible paths to the target.
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With planned task trajectories it can act as a null-space velocity.
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Smooth joint trajectories and accurate target reaching are achieved.
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Experimental results with a KUKA LWR4+ manipulator demonstrate its performance.