Acceleration-level inverse-free G2 scheme for inverse kinematics path tracking of robot manipulators

2017 36th Chinese Control Conference (CCC) ◽

10.23919/chicc.2017.8028429 ◽

2017 ◽

Author(s):

Jiawei Luo ◽

Jun Zhang ◽

Zhiyong Xie ◽

Xiaoyin Zhang ◽

Lin Xiao ◽

...

Keyword(s):

Inverse Kinematics ◽

Robot Manipulators ◽

Path Tracking ◽

Acceleration Level

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A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits

IEEE Transactions on Robotics and Automation ◽

10.1109/tra.2002.807543 ◽

2003 ◽

Vol 19 (1) ◽

pp. 162-167 ◽

Cited By ~ 58

Author(s):

G. Antonelli ◽

S. Chiaverini ◽

G. Fusco

Keyword(s):

Inverse Kinematics ◽

Robot Manipulators ◽

Path Tracking ◽

On Line ◽

Joint Limits

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Inverse-free solution of Z1G1 type to acceleration-level inverse kinematics of redundant robot manipulators

2015 Seventh International Conference on Advanced Computational Intelligence (ICACI) ◽

10.1109/icaci.2015.7184749 ◽

2015 ◽

Cited By ~ 1

Author(s):

Ying Wang ◽

Xiaogang Yan ◽

Liangyu He ◽

Hongzhou Tan ◽

Yunong Zhang

Keyword(s):

Inverse Kinematics ◽

Robot Manipulators ◽

Free Solution ◽

Redundant Robot ◽

Acceleration Level

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Inverse-free D1G1 solution to acceleration-level inverse kinematics of redundant robot manipulators

2014 IEEE International Conference on Progress in Informatics and Computing ◽

10.1109/pic.2014.6972341 ◽

2014 ◽

Cited By ~ 2

Author(s):

Ying Wang ◽

Jiawei Luo ◽

Weibing Li ◽

Hongzhou Tan ◽

Yunong Zhang

Keyword(s):

Inverse Kinematics ◽

Robot Manipulators ◽

Redundant Robot ◽

Acceleration Level

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A hybrid inverse kinematics framework for redundant robot manipulators based on hierarchical clustering and distal teacher learning

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2015.7419731 ◽

2015 ◽

Cited By ~ 2

Author(s):

Jie Chen ◽

Henry Y K Lau

Keyword(s):

Teacher Learning ◽

Hierarchical Clustering ◽

Inverse Kinematics ◽

Robot Manipulators ◽

Redundant Robot

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SLInKi: State Lattice based Inverse Kinematics - A Fast, Accurate, and Flexible IK Solver for Soft Continuum Robot Manipulators

10.1109/case49439.2021.9551686 ◽

2021 ◽

Author(s):

Shou-Shan Chiang ◽

Hao Yang ◽

Erik Skorina ◽

Cagdas D. Onal

Keyword(s):

Inverse Kinematics ◽

Robot Manipulators ◽

Continuum Robot

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Smooth Time-Optimal Path Tracking for Robot Manipulators With Kinematic Constraints

Volume 7B: Dynamics, Vibration, and Control ◽

10.1115/imece2020-23637 ◽

2020 ◽

Author(s):

Kui Hu ◽

Yunfei Dong ◽

Dan Wu

Keyword(s):

Robot Manipulators ◽

Optimal Path ◽

Path Tracking ◽

Control Input ◽

Kinematic Constraints ◽

Computation Efficiency ◽

Planning Approach ◽

Time Optimal ◽

Difference Of Convex ◽

The Difference

Abstract Previous works solve the time-optimal path tracking problems considering piece-wise constant parametrization for the control input, which may lead to the discontinuous control trajectory. In this paper, a practical smooth minimum time trajectory planning approach for robot manipulators is proposed, which considers complete kinematic constraints including velocity, acceleration and jerk limits. The main contribution of this paper is that the control input is represented as the square root of a polynomial function, which reformulates the velocity and acceleration constraints into linear form and transforms the jerk constraints into the difference of convex form so that the time-optimal problem can be solved through sequential convex programming (SCP). The numerical results of a real 7-DoF manipulator show that the proposed approach can obtain very smooth velocity, acceleration and jerk trajectories with high computation efficiency.

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