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The Motion Planning And Optimization For Redundant Manipulators

Posted on:2014-02-17Degree:MasterType:Thesis
Country:ChinaCandidate:Q L HuangFull Text:PDF
GTID:2248330395992828Subject:Control theory and control engineering
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The research on redundant manipulators is one of the research focuses of robots. It comprises of two parts:one is inverse kinematics that is calculation of the joints’ angels and velocity, the other is path planning which is figuring out a path for manipulator. The manipulator is a complex system of highly coupled and nonlinear. The research on the manipulator has a certain degree of difficulty, especially on redundant manipulator. The achievements of the research on redundant manipulator can be applied to other uses manipulator. Therefore, the research on redundant manipulator’s motion planning has important theoretical significance and practical value.This thesis takes advantage of two humanoid robots playing table-tennis as experimental platform, and has done some researches on the motion control of redundant manipulator and its optimization. We proposed two methods to solve the inverse kinematics of redundant manipulator.This thesis is comprised of four parts’research, as follows:1. This thesis proposed a classic method to solve the inverse kinematics of7-DOF manipulators.2. This thesis proposed an analytic solution of inverse kinematics for7-DOF manipulators. And applied extensions to the solution of inverse kinematics for the manipulator when the waist rotating.3. We improved the method of calculating the angular velocities. This method can improve the comfort level of the manipulators.4. This thesis proposed a method of path planning in joint space for manipulators. We also proposed a method for manipulators to avoid collision.
Keywords/Search Tags:humanoid robot, redundant, manipulator, inverse kinematics, pathplanning, playing table-tennis
PDF Full Text Request
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