In his research Allan.D.Zhang focuses on continuous trajectory planning, inverse kinematics and orientation planning and tests the feasibility of his work on the KUKA youBot. His latest research project proposes a reservation method to settle the inverse kinematics of industrial serial manipulators.
To read more about Allan and his research visit his website or watch his youBot videos.
Novel inverse kinematics and continuous trajectory planning in the Cartesian space
Author: Yaolun, ZHANG
Abstract:
Kinematics is of fundamental importance for trajectory planning, motion control, workspace analysis, etc., however, multiple solutions exist for serial manipulators, and the desirable or optimal solutions have to use additional algorithms to select and match from the multiple solutions, such as closest solution, energy-saving etc.; for the continuous trajectory planning in the Cartesian space, several methods exist, such as the interpolation of quarternion and Frenet-Serret formulas, axis- angles methods, however, they might encounter severe problems for 5-dof manipulators (for example, KUKA youBot with 5-dof manipulator), etc..
In the research project, a reservation method is proposed to settle the inverse kinematics of industrial serial manipulators (5-dof and 6-dof), so the desirable and optimal solution can be directly obtained without the selection and match from multiple solutions; meanwhile, the dynamic reference orientation or static reference orientation is proposed to plan the continuous time-varying orientation, which is coupled with position of end-effector, so the continuous trajectory planning is directly achieved in the Cartesian space using the above-mentioned inverse kinematics without the interpolation in the joint space, and the latter has unpredictable and complicate shape of end-effector.
Then, several expriments are carried out based on KUKA youBot to verify the feasibility of the proposed algorithm.
Videos can be found here.
Title: Novel inverse kinematics and continuous trajectory planning in the Cartesian space
The experiments below is carried out based on KUKA youBot, and they are shown with the proposed algorithm above.
It is carriey out just using kinemaitc control with open loop, and without feedback control; and the trajectory is planned in the Cartesian space based on the former.
