Real-time optimized inverse kinematics of redundant robots under inequality constraints
Linlin Zhang, Huibin Du, Zhiying Qin, Yuejing Zhao, Guang Yang · 2024
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Description
Linlin Zhang and co-authors present a 2024 journal article on real-time joint control for robots with extra joints. Redundant robots have more joints than a task needs, so many poses fit one goal, and choosing among them fast under hard limits is tough. The team swaps the usual quadratic solver for a constrained linear one.
Joint range, speed, and acceleration caps enter directly as inequality constraints that can never be broken. Simulations and trials on a seven-joint KUKA arm showed the method steering the robot through sensor-driven tasks in changing scenes. The authors present it as a general route to safe, live redundancy control.
Catalog record
| CREATOR | Linlin Zhang, Huibin Du, Zhiying Qin, Yuejing Zhao, Guang Yang |
|---|---|
| YEAR | 2024 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 149 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |