Inverse Kinematic Analysis for 7-DOF Redundant Power Assistant Robot Control
Power assistant robot is an intelligent system which allows the closely cooperating between human and machine.Attaching with workers as an exoskeleton,it strengthens them by operating harmoniously with given desired commands.The most concerned problem for the system is how to deal with the interaction between human and intelligent manipulator so that the operating tasks could be done in the most dexterous and flexible way.To realize this purpose,our paper focuses in analytical methodology of inverse kinematic computation which is the key point in controlling 7-DOF redundant power assistant manipulators.A multi axes load cell is then employed as the main component for human machine interaction (HMI) structure.It is located at the robot end effector so that user could easily give the command to the manipulator.After getting the desired motion controls through the load cell,a redundant inverse kinematic solution is then proposed to convert these commands into the reference signals for the elemental joints of the manipulator and generate the motion of the robot.Lastly,some simulations are carried out to verify the validity of the proposed method.It is realized that by applying this strategy,the posture of robot end effector tracks the desired trajectory given by the host.
7-DOF manipulator inverse kinematics Jacobian matrix redundant robot
Duy Khoa Le Thanh Liem Dao Kyoung Kwan Ahn
Graduate School of Mechanical and Automotive Engineering, University of Ulsan, KoreaSan 29- Namgu-Mu Department of Mechanical and Automotive Engineering, University of Ulsan, Korea
国际会议
天津
英文
376-381
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）