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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An optimization algorithm for trajectory planning of a 7-DOF redundant manipulator


    Contributors:
    Lu, Hanchen (author) / Zhou, Xiaodong (author) / Li, Rui (author)


    Publication date :

    2016-08-01


    Size :

    8334774 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Multi-criteria optimization manipulator trajectory planning

    Pires, E. J. Solteiro / Oliveira, P. B. Moura / Machado, J. A. Tenreiro | BASE | 2010

    Free access

    Trajectory optimization of a manipulator system with redundant degrees of freedom

    Chen, Y. / Modi, V. / de Silva, C. et al. | AIAA | 2000


    Trajectory planning and time-independent motion control for a kinematically redundant hydraulic manipulator

    Mettin, Uwe / La Hera, Pedro X. / Ortiz Morales, Daniel et al. | BASE | 2009

    Free access

    Trajectory generation with collision avoidance for a redundant manipulator

    KING, NIGEL / HAUKOOS, DANA / TSAI, KENNETH | AIAA | 1992