Clamping Weighted Least-Norm Method for the Manipulator Kinematic Control:Avoiding Joint Limits

摘要：

　　This paper presents the clamping weighted least-norm(CWLN)method for an inverse kinematic control of manipulators.The CWLN method combines the weighted least-norm technique with a clamping concept,which guarantees the join limits by damping the direction towards limits and forcing the joints away from their limits.Continuous weighted factor is used to improve the robustness of algorithm,and ensure the continuity of solution.The main task accuracy is sacrificed if necessary,to satisfy the joint-limit constraints.A simulation on the seven-degree-of-freedom(7 DOF)redundant manipulator illustrates the good performance for avoiding joint limits while tracking a given trajectory.

关键词： Clamping weighted least-norm method Inverse kinematic control Joint limits avoidance

作者: Shuihua Huang Yonggang Peng Wei Wei Ji Xiang

作者单位: Department of System Science and Engineering,College of Electrical Engineering,Zhejiang University,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8309-8314

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）