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Novel inverse kinematics and continuous trajectory planning in the Cartesian space

Novel inverse kinematics and continuous trajectory planning in the Cartesian space
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ACADEMIC PROJECT

Title: Novel inverse kinematics and continuous trajectory planning in the Cartesian space

Author: Yaolun, ZHANG

Abstract: 

Kinematics is of fundamental importance for trajectory planning, motion control, workspace analysis, etc., however, multiple solutions exist for serial manipulators, and the desirable or optimal solutions have to use additional algorithms to select and match from the multiple solutions, such as closest solution, energy-saving etc.; for the continuous trajectory planning in the Cartesian space, several methods exist, such as the interpolation of quarternion and Frenet-Serret formulas, axis- angles methods, however, they might encounter severe problems for 5-dof manipulators (for example, KUKA youBot with 5-dof manipulator), etc.. 
 
In the research project, a reservation method is proposed to settle the inverse kinematics of industrial serial manipulators (5-dof and 6-dof), so the desirable and optimal solution can be directly obtained without the selection and match from multiple solutions; meanwhile, the dynamic reference orientation or static reference orientation is proposed to plan the continuous time-varying orientation, which is coupled with position of end-effector, so the continuous trajectory planning is directly achieved in the Cartesian space using the above-mentioned inverse kinematics without the interpolation in the joint space, and the latter has unpredictable and complicate shape of end-effector. 
 
Then, several expriments are carried out based on KUKA youBot to verify the feasibility of the proposed algorithm.

 

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