Preprint Concept Paper Version 1 Preserved in Portico This version is not peer-reviewed

Joint Space Redundancy Resolution of Serial Link Manipulator: An Inverse Kinematics and Continuum Structure Numerical Approach

Version 1 : Received: 7 May 2020 / Approved: 9 May 2020 / Online: 9 May 2020 (10:12:45 CEST)

How to cite: Jain, T.; Kumar Jain, J.; Roy, D. Joint Space Redundancy Resolution of Serial Link Manipulator: An Inverse Kinematics and Continuum Structure Numerical Approach. Preprints 2020, 2020050162 (doi: 10.20944/preprints202005.0162.v1). Jain, T.; Kumar Jain, J.; Roy, D. Joint Space Redundancy Resolution of Serial Link Manipulator: An Inverse Kinematics and Continuum Structure Numerical Approach. Preprints 2020, 2020050162 (doi: 10.20944/preprints202005.0162.v1).

Abstract

Automatic control to any of robot manipulators, some kind of issues are being observed. A numerical method for solution generation to the inverse kinematics problem of redundant robotic manipulators is presented to obtain the smoothest algorithm as possible, leading to a robust iterative method. After the primary objective of the reachability of end-effectors to the target point is achieved, the aim is set to resolve the redundant degrees of freedom of redundant manipulator. This method is numerically stable since it converges to the correct answer with virtually any initial approximation, and it is not sensitive to the singular configurations of the manipulator. In addition, this technique is computationally effective and able to apply for serial manipulators with any DOF applications. A planar 3R-DOF serial link redundant manipulator is considered as exemplar problem for solving. Also, the continuum approach for resolving more complex structure with variable DoF is illustrated here and their brief applicability to support surgeries and adaptive use of artificial linkage moments is also calculated.

Subject Areas

inverse kinematics; DLS system; redundancy resolution; redundant manipulator; continuum structure; manipulator positioning

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