• français
    • English
    français
  • Login
Help
View Item 
  •   Home
  • Laboratoire d’Ingénierie des Systèmes Physiques Et Numériques (LISPEN)
  • View Item
  • Home
  • Laboratoire d’Ingénierie des Systèmes Physiques Et Numériques (LISPEN)
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

A Modified DLS Scheme With Controlled Cyclic Solution for Inverse Kinematics in Redundant Robots

Article dans une revue avec comité de lecture
Author
SAFEEA
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]
164378 Faculty of Sciences and Technology [Coimbra]
BEAREE, Richard
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]
NETO, Pedro
164378 Faculty of Sciences and Technology [Coimbra]

URI
http://hdl.handle.net/10985/21035
DOI
10.1109/tii.2021.3060019
Date
2021
Journal
IEEE Transactions on Industrial Informatics

Abstract

Redundancy in robotic manipulators has many advantages. It is successfully used to achieve better dexterity, and to avoid obstacles, singularities, or the kinematic limitations. However, redundancy makes the inverse kinematics (IK) problem harder to solve. The damped least squares (DLS) is a powerful method for calculating the IK of redundant robots, but it suffers from noncyclicity issue, where a closed curve motion in the Cartesian space of the end-effector (EEF) does not map into a closed curve in the joint space. This results in nonrepetitive motion in the joint space, even though the EEF motion is repetitive. In this article, we present a solution for the noncyclicity problem in the DLS method. The proposed scheme was successfully tested both in simulation (9 DoF robot) and on a real robotic manipulator (7 DoF robot).

Files in this item

Name:
LISPEN_TII_2021_BEAREE.pdf
Size:
6.498Mb
Format:
PDF
Description:
Article de revue
View/Open

Collections

  • Laboratoire d’Ingénierie des Systèmes Physiques Et Numériques (LISPEN)

Related items

Showing items related by title, author, creator and subject.

  • Efficient Calculation of Minimum Distance Between Capsules and Its Use in Robotics 
    Article dans une revue avec comité de lecture
    SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (IEEE, 2018)
    The problem of minimum distance calculation between line-segments/capsules, in 3D space, is an important subject in many engineering applications, spanning CAD design, computer graphics, simulation, and robotics. In the ...
  • An integrated framework for collaborative robot-assisted additive manufacturing 
    Article dans une revue avec comité de lecture
    SAFEEA, Mohammad; BEAREE, Richard; NETO, Pedro (Elsevier BV, 2022-09)
    Additive manufacturing (AM) is revolutionizing industry, allowing to prototype and fabricate custom-made parts with complex geometries rapidly and at an affordable cost. The use of robots to perform AM has great potentials ...
  • Reducing the Computational Complexity of Mass-Matrix Calculation for High DOF Robots 
    Communication avec acte
    SAFEEA, Mohammad; BEAREE, Richard; NETO, Pedro (IEEE, 2018)
    Increasingly, robots have more degrees of freedom (DOF), imposing a need for calculating more complex dynamics. As a result, better efficiency in carrying out dynamics computations is becoming more important. In this study, ...
  • Collision Avoidance of Redundant Robotic Manipulators Using Newton’s Method 
    Article dans une revue avec comité de lecture
    SAFEEA, Mohammad; BEAREE, Richard; NETO, Pedro (Springer Verlag, 2020)
    This study investigates the application of Newton method to the problems of collision avoidance and path planning for robotic manipulators, especially robots with high Degrees of Freedom (DOF). The proposed algorithm applies ...
  • On-line collision avoidance for collaborative robot manipulators by adjusting off-line generated paths: An industrial use case 
    Article dans une revue avec comité de lecture
    SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (Elsevier, 2019)
    Human–robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in ...

Browse

All SAMCommunities & CollectionsAuthorsIssue DateCenter / InstitutionThis CollectionAuthorsIssue DateCenter / Institution

Newsletter

Latest newsletterPrevious newsletters

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

ÉCOLE NATIONALE SUPERIEURE D'ARTS ET METIERS

  • Contact
  • Mentions légales

ÉCOLE NATIONALE SUPERIEURE D'ARTS ET METIERS

  • Contact
  • Mentions légales