Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics
Traditional methods for solving the inverse kinematics of a hyper-redundant manipulator (HRM) can only plan the path of the end-effector with a complicated solving process, where obstacle avoidance is also not considered. To solve the above problems, a novel method for solving inverse kinematics of...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/11/1030 |
| _version_ | 1797467500645974016 |
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| author | Longfei Jia Zhiyuan Yu Haiping Zhou Zhe Pan Yangsheng Ou Yaxing Guo Yuping Huang |
| author_facet | Longfei Jia Zhiyuan Yu Haiping Zhou Zhe Pan Yangsheng Ou Yaxing Guo Yuping Huang |
| author_sort | Longfei Jia |
| collection | DOAJ |
| description | Traditional methods for solving the inverse kinematics of a hyper-redundant manipulator (HRM) can only plan the path of the end-effector with a complicated solving process, where obstacle avoidance is also not considered. To solve the above problems, a novel method for solving inverse kinematics of HRM is proposed in this paper: the variable dimension scaling method (VDSM), which can solve complex inverse kinematics while avoiding obstacles. Through this method, the path of the end-effector is scaled under a certain proportion and is adjusted depending on the position of the obstacle, which has good universality. The number of link angles changed is as small as possible in the process of achieving the end-effector moving along the desired path. With the redundancy of HRM, obstacle avoidance can be implemented in any environment by the proposed method. Through simulation and experiments in different environments, the above advantages of VDSM are verified. |
| first_indexed | 2024-03-09T18:54:33Z |
| format | Article |
| id | doaj.art-29157bbd95c14d2e9cce59ff561786e5 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T18:54:33Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-29157bbd95c14d2e9cce59ff561786e52023-11-24T05:33:12ZengMDPI AGMachines2075-17022022-11-011011103010.3390/machines10111030Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse KinematicsLongfei Jia0Zhiyuan Yu1Haiping Zhou2Zhe Pan3Yangsheng Ou4Yaxing Guo5Yuping Huang6Beijing Institute of Precision Mechatronics and Controls, Beijing 100076, ChinaBeijing Institute of Precision Mechatronics and Controls, Beijing 100076, ChinaBeijing Institute of Precision Mechatronics and Controls, Beijing 100076, ChinaBeijing Institute of Precision Mechatronics and Controls, Beijing 100076, ChinaChina Academy of Aerospace Science and Innovation, Beijing 100076, ChinaBeijing Institute of Precision Mechatronics and Controls, Beijing 100076, ChinaBeijing Institute of Precision Mechatronics and Controls, Beijing 100076, ChinaTraditional methods for solving the inverse kinematics of a hyper-redundant manipulator (HRM) can only plan the path of the end-effector with a complicated solving process, where obstacle avoidance is also not considered. To solve the above problems, a novel method for solving inverse kinematics of HRM is proposed in this paper: the variable dimension scaling method (VDSM), which can solve complex inverse kinematics while avoiding obstacles. Through this method, the path of the end-effector is scaled under a certain proportion and is adjusted depending on the position of the obstacle, which has good universality. The number of link angles changed is as small as possible in the process of achieving the end-effector moving along the desired path. With the redundancy of HRM, obstacle avoidance can be implemented in any environment by the proposed method. Through simulation and experiments in different environments, the above advantages of VDSM are verified.https://www.mdpi.com/2075-1702/10/11/1030variable dimension scaling methodpath planninginverse kinematicsobstacle avoidancehyper-redundant manipulator |
| spellingShingle | Longfei Jia Zhiyuan Yu Haiping Zhou Zhe Pan Yangsheng Ou Yaxing Guo Yuping Huang Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics Machines variable dimension scaling method path planning inverse kinematics obstacle avoidance hyper-redundant manipulator |
| title | Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics |
| title_full | Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics |
| title_fullStr | Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics |
| title_full_unstemmed | Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics |
| title_short | Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics |
| title_sort | variable dimensional scaling method a novel method for path planning and inverse kinematics |
| topic | variable dimension scaling method path planning inverse kinematics obstacle avoidance hyper-redundant manipulator |
| url | https://www.mdpi.com/2075-1702/10/11/1030 |
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