NDLI: Acceleration-level Z2G0 controller for redundant manipulator end-effector tracking

Content Provider	IEEE Xplore Digital Library
Author	Jiawei Luo Xiaotian Yu Yonghua Yin Hongzhou Tan Yunong Zhang
Copyright Year	2014
Description	Author affiliation: Sch. of Inf. Sci. & Technol., Sun Yat-sen Univ. (SYSU), Guangzhou, China (Jiawei Luo; Xiaotian Yu; Yonghua Yin; Hongzhou Tan; Yunong Zhang)
Abstract	The forward kinematics for robotic manipulators has a mathematically analytical form, while the inverse-kinematics problem is mathematically complicated. There are many methods to solve the inverse-kinematics problem; such as the conventional pseudo-inverse based method, which is general but has some problems and limitations. Therefore, it is worth investigating the solution of the inverse-kinematics problem using dynamic methods. Based on previous researches, the dynamic methods consist of Zhang dynamics (ZD) and gradient dynamics (GD). In this paper, by using ZD twice and not using GD, a controller named Z2G0 is investigated for resolving the redundancy of robot manipulators. As one typical application of ZD, the Z2G0 controller is developed at the joint-acceleration level. Furthermore, simulations based on four-link and six-link redundant manipulators are performed to substantiate the feasibility and effectiveness of the developed Z2G0 controller.
Starting Page	860
Ending Page	865
File Size	475664
Page Count	6
File Format	PDF
e-ISBN	9781479951482
DOI	10.1109/FSKD.2014.6980951
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-19
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Zhang dynamics (ZD) Kinematics end-effector tracking inverse kinematics Trajectory redundant manipulators Acceleration Joints Manipulator dynamics
Content Type	Text
Resource Type	Article

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