A new solution is proposed for the Real-time control of a 7-DOF (Degree Of Freedom) redundant manipulator by taking advantage of its inverse kinematics. The iterative optimization method is used to reduce the amount of calculating while ensuring its precision. In order to complete the manipulator's trajectory planning in Cartesian space, the quintic polynomial interpolation algorithm is established. Finally, the hardware platform as well as the control system for the manipulator is designed. The effectiveness of the trajectory planning method is verified by the analyzing the simulation results. It shows that the algorithm improves the efficiency of the inverse calculating obviously, which also enhance real-time performance of the system. Meanwhile, it meets the requirements for the speed and interpolation precision of the manipulator's performance.
An optimization algorithm for trajectory planning of a 7-DOF redundant manipulator
2016-08-01
8334774 byte
Conference paper
Electronic Resource
English
Trajectory Tracking of a Redundant Hybrid Manipulator Using a Switching Control Method
BASE | 2016
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