Purpose – This paper aims to propose an innovative kinematic control algorithm for redundant robotic manipulators. The algorithm takes advantage of a bio-inspired approach. Design/methodology/approach – A simplified two-degree-of-freedom model is presented to handle kinematic redundancy in the x-y plane; an extension to three-dimensional tracking tasks is presented as well. A set of sample trajectories was used to evaluate the performances of the proposed algorithm. Findings – The results from the simulations confirm the continuity and accuracy of generated joint profiles for given end-effector trajectories as well as algorithm robustness, singularity and self-collision avoidance. Originality/value – This paper shows how to control a redundant robotic arm by applying human upper arm-inspired concept of inter-joint dependency.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Bio-inspired kinematical control of redundant robotic manipulators



    Erscheinungsdatum :

    2016-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Bio-inspired control of redundant robotic systems: Optimization approach

    Lazarević, Mihailo / Obradović, Aleksandar / Latinović, Tihomir | BASE | 2012

    Freier Zugriff



    Efficient redundancy control of redundant manipulators

    Ma, S. / Hirose, S. / Yoshinada, H. | British Library Online Contents | 1996


    Quasioptimal Control of Space Redundant Manipulators

    Senda, K. / AIAA | British Library Conference Proceedings | 1999