首页|Reports Outline Field Robotics Study Findings from Hunan University (An Improved Inverse Kinematics Solution Method for the Hyper-redundant Manipulator With End -link Pose Constraint)
Reports Outline Field Robotics Study Findings from Hunan University (An Improved Inverse Kinematics Solution Method for the Hyper-redundant Manipulator With End -link Pose Constraint)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on Ro botics - Field Robotics. According to news reporting from Changsha, People's Rep ublic of China, by NewsRx journalists, research stated, "Hyperredundant manipul ators have strong flexibility that benefits from their redundant limb structure. However, a large number of redundant degrees of freedom will also lead the solu tion of inverse kinematics much more difficult, which restricts their motion per formance to some extent." The news correspondents obtained a quote from the research from Hunan University , "Inspired by the FABRIK (Forward and Backward Reaching Inverse Kinematics) met hod, an improved inverse kinematics solution method for the hyper-redundant mani pulator is proposed. Based on the space vector method, the kinematic model of th e manipulator is established to dynamically acquire its endpoint position, and t he workspace is further obtained by using the Monte Carlo method. The original s earch method is optimized, the include angle decoupling mechanism between adjace nt links is established to obtain the rotation angles of each joint, and the joi nt angle limitation is introduced to meet the actual manipulator structural rest riction. On this basis, the pose constraint mechanism is established to realize the control of the end-link pose, and the linear degree of freedom is introduced to realize the solution after the directional expansion of the manipulator's wo rkspace. A series of simulation experiments are carried out. In the experiments, the position error of the manipulator's endpoint is always less than 10-6 mm. M eanwhile, the comparative experimental results show that compared with the origi nal method, the proposed method exhibits higher position accuracy under the cond ition that the computation time is almost the same. In addition, in the end-link pose constraint experiment and path motion experiments, the pose error of the e nd-link is always less than 10-7 degrees, indicating that the end-link pose can also meet the high accuracy requirements under the premise of ensuring high posi tion accuracy."
ChangshaPeople's Republic of ChinaAs iaField RoboticsRoboticsEmerging TechnologiesInverse KinematicsMachine LearningHunan University
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