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Feasible Arm Configurations and its Application for Human-Like Motion Control of S-R-S-Redundant Manipulators with Multiple Constraints

Published online by Cambridge University Press:  01 February 2021

Jing Xia Open the ORCID record for Jing Xia [Opens in a new window] ,
Zai-nan Jiang  and
Ting Zhang
Jing Xia
Affiliation:
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an, China
Zai-nan Jiang*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Ting Zhang
Affiliation:
Robotics and Microsystems Center, College of Mechanical and Electrical Engineering, Soochow University, Suzhou, China
*
*Corresponding author. E-mail: jiangzainan@hit.edu.cn
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Summary

This paper presents a general framework for human-like motion control of 7-DOF S-R-S-redundant manipulators. The new framework simultaneously accomplishes five objectives: Cartesian trajectory tracking, obstacle avoidance, joint limit avoidance, human-like movement, and a feasibility evaluation of the Cartesian trajectory.We exhaustively compute all feasible arm configurations. This allows for quick evaluations of the feasibility of the Cartesian trajectories. They are applied to inverse kinematics of the redundant manipulator to improve the capability to handle multiple constraints, and enable the manipulator to imitate human movements. The efficiency of the proposed framework is demonstrated by kinematic experiments with a humanoid robot.

Keywords

Redundant manipulatorsSerial manipulatorDesign and kinematicsMotion planningControl of robotic systemsHumanoid robots
Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021 , pp. 1617 - 1633
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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