An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset

Abstract The inverse solution calculation speed and the configuration control are very important for anthropomorphic manipulators with 7 degree-of-freedom (DOF). In order to realize the combined control of global arm configuration manifolds and local self-motion of 7-DOF anthropomorphic manipulators without offset, an analytical inverse kinematics solution method is proposed in this paper. By defining a new arm reference plane for 7-DOF anthropomorphic manipulators, it uses arm angle to deal with local self-motion and orientation control to deal with global arm configuration manifolds. All possible inverse kinematics solutions for target pose can be intuitively expressed with the assistance of the parameters of arm angle and orientation control. Meanwhile, the corresponding singularity is also taken into account and a detection metric is provided. Furthermore, the problem of joint limits avoidance is mapped to the selection of arm angle in null space, and the Self-Adaptive Particle Swarm Optimization algorithm is introduced to obtain the optimal arm angle that can maximize the avoidance of joint limits. Simulation results show the proposed method has such advantages as fast calculation speed, high precision and high stability.

[1]  T. Yoshikawa,et al.  Task-Priority Based Redundancy Control of Robot Manipulators , 1987 .

[2]  Francesco Leali,et al.  Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications , 2018, Mechatronics.

[3]  Kazuhiro Kosuge,et al.  Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution , 2008, IEEE Transactions on Robotics.

[4]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[5]  Dimitrios Papageorgiou,et al.  Kinematic control of redundant robots with guaranteed joint limit avoidance , 2016, Robotics Auton. Syst..

[6]  Sukhan Lee,et al.  Redundant arm kinematic control based on parameterization , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[7]  Lei Zhang,et al.  Analytical Inverse Kinematics and Self-Motion Application for 7-DOF Redundant Manipulator , 2019, IEEE Access.

[8]  Panagiotis Artemiadis,et al.  Closed-form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms , 2013, ICRA 2013.

[9]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[10]  Tamim Asfour,et al.  Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[11]  Valerio Ortenzi,et al.  Singularity-Robust Inverse Kinematics Solver for Tele-manipulation , 2019, 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE).

[12]  Vincent De Sapio,et al.  Robotics-based synthesis of human motion , 2009, Journal of Physiology-Paris.

[13]  F. Ernst,et al.  Robust inverse kinematics by configuration control for redundant manipulators with seven DoF , 2016, 2016 2nd International Conference on Control, Automation and Robotics (ICCAR).

[14]  Benjamin Reed,et al.  Analytical inverse kinematic solution with self-motion constraint for the 7-DOF restore robot arm , 2014, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[15]  Qijun Chen,et al.  Optimization of analytical inverse kinematic solution for redundant manipulators using GA-PSO algorithm , 2018, 2018 IEEE Industrial Cyber-Physical Systems (ICPS).

[16]  Zhanqun Shi,et al.  A Novel Mutating PSO Based Solution For Inverse Kinematic Analysis Of Multi Degree-Of-Freedom Robot Manipulators , 2019, 2019 IEEE International Conference on Artificial Intelligence and Computer Applications (ICAICA).

[17]  Isiah Zaplana,et al.  A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis , 2018 .

[18]  John M. Hollerbach,et al.  OPTIMUM KINEMATIC DESIGN FOR A SEVEN DEGREE OF FREEDOM MANIPULATOR. , 1985 .

[19]  Zijia Li,et al.  Analysis of Kinematic Singularities for a Serial Redundant Manipulator with 7 DOF , 2018, ARK.

[20]  Jonathan Claassens,et al.  An analytical solution for the inverse kinematics of a redundant 7DoF Manipulator with link offsets , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Ren C. Luo,et al.  Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  K. Kreutz-Delgado,et al.  Kinematic Analysis of 7-DOF Manipulators , 1992 .

[23]  Lei Yan,et al.  Analytical inverse kinematics of a class of redundant manipulator based on dual arm-angle parameterization , 2014, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[24]  Jun-Ho Oh,et al.  Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator , 2017, 2017 First IEEE International Conference on Robotic Computing (IRC).

[25]  Qijun Chen,et al.  Kinematic solution and singularity analysis for 7-DOF redundant manipulators with offsets at the elbow , 2018, 2018 IEEE Industrial Cyber-Physical Systems (ICPS).

[26]  Daniel E. Whitney,et al.  Resolved Motion Rate Control of Manipulators and Human Prostheses , 1969 .

[27]  Donald Lee Pieper.  The kinematics of manipulators under computer control , 1968 .

[28]  Joel W. Burdick,et al.  On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[29]  Abdelfetah Hentout,et al.  Human–robot interaction in industrial collaborative robotics: a literature review of the decade 2008–2017 , 2019, Adv. Robotics.

[30]  Estela Bicho,et al.  Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance , 2018 .