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Dexterity analysis and intelligent trajectory planning of redundant dual arms for an upper body humanoid robot

Shifa Sulaiman (Mechanical Engineering Department, National Institute of Technology Calicut, Calicut, India)
A.P. Sudheer (Mechanical Engineering Department, National Institute of Technology Calicut, Calicut, India)

Industrial Robot

ISSN: 0143-991x

Article publication date: 31 July 2021

Issue publication date: 16 November 2021

205

Abstract

Purpose

Most of the redundant dual-arm robots are singular free, dexterous and collision free compared to other robotic arms. This paper aims to analyse the workspace of redundant arms to study the manipulability. Furthermore, multi-layer perceptron (MLP) algorithm is used to determine the various joint parameters of both the upper body redundant arms. Trajectory planning of robotic arms is carried out with the help of inverse solutions obtained from the MLP algorithm.

Design/methodology/approach

In this paper, the kinematic equations are derived from screw theory approach and inverse kinematic solutions are determined using MLP algorithm. Levenberg–Marquardt (LM) and Bayesian regulation (BR) techniques are used as the backpropagation algorithms. The results from two backpropagation techniques are compared for determining the prediction accuracy. The inverse solutions obtained from the MLP algorithm are then used to optimize the cubic spline trajectories planned for avoiding collision between arms with the help of convex optimization technique. The dexterity of the redundant arms is analysed with the help of Cartesian workspace of arms.

Findings

Dexterity of redundant arms is analysed by studying the voids and singular spaces present inside the workspace of arms. MLP algorithms determine unique solutions with less computational effort using BR backpropagation. The inverse solutions obtained from MLP algorithm effectively optimize the cubic spline trajectory for the redundant dual arms using convex optimization technique.

Originality/value

Most of the MLP algorithms used for determining the inverse solutions are used with LM backpropagation technique. In this paper, BR technique is used as the backpropagation technique. BR technique converges fast with less computational time than LM method. The inverse solutions of arm joints for traversing optimized cubic spline trajectory using convex optimization technique are computed from the MLP algorithm.

Keywords

Citation

Sulaiman, S. and Sudheer, A.P. (2021), "Dexterity analysis and intelligent trajectory planning of redundant dual arms for an upper body humanoid robot", Industrial Robot, Vol. 48 No. 6, pp. 915-928. https://doi.org/10.1108/IR-12-2020-0279

Publisher

:

Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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