Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm

Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm

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Closed-loop inverse kinematics (CLIK) algorithm mostly resolves the redundancy at the velocity level. In this paper we extend the CLIK algorithm to the acceleration level to meet some applications that require the joint accelerations. The redundancy resolutions at the velocities and acceleration lev...

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Bibliographic Details
Main Authors: Jingguo Wang, Yangmin Li, and Xinhua Zhao
Format: Article
Language:English
Published: SAGE Publishing 2011-01-01
Series:International Journal of Advanced Robotic Systems
Subjects:
Redundant manipulator
inverse kinematics
closed-loop algorithm
null space
joint limit avoidance
Online Access:http://www.intechopen.com/articles/show/title/inverse-kinematics-and-control-of-a-7-dof-redundant-manipulator-based-on-the-closed-loop-algorithm

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http://www.intechopen.com/articles/show/title/inverse-kinematics-and-control-of-a-7-dof-redundant-manipulator-based-on-the-closed-loop-algorithm

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