Priority-based Inverse Kinematics Solutions for a Dual-Arm Manipulator with Redundancy
This paper proposes a method to solve inverse kinematics for a 15-DOF redundant dual-arm manipulator.Generally,to solve inverse kinematics for a dual-arm manipulator with redundancy,the joint angle of base axis should be predetermined depending on purposes of the robot tasks such as assembly,welding,or object transportation.Then,the other joint angles can be determined numerically for each single-arm.In this paper,a new method is presented,which solves inverse kinematics considering entire 15 joints with redundancy using an extended Jacobian matrix including the base axis.For this approach,the Jacobian matrix is 12 by 15.So the matrix computation is expensive to solve the problem in the real-time robot controller.In order to reduce computational burden,we make use of another approach combining a geometrical method with a numerical method.Finally,the priority-based inverse kinematics method is proposed and examples of the obstacle avoidance,collision avoidance between both arms and minimizing workspace are shown.
manipulator dual-arm redundancy inverse kinematics obstacle avoidance
国际会议
天津
英文
404-409
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）