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.
Bio-inspired kinematical control of redundant robotic manipulators
2016-01-01
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Adaptive Impedance Control of Redundant Manipulators
Online Contents | 1994
Simplified Dynamic Control Of Redundant Manipulators
NTRS | 1990
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