Inverse kinematic analysis of a redundant robot arm based on closed-loop feedback algorithm
DOI:
https://doi.org/10.61591/jslhu.18.391Keywords:
Robot arm; Redundant system; Inverse kinematics; Closed loop feedback.Abstract
This article presents inverse kinematic (IK) problem analysis results of the PA10-7C robot arm with seven degrees of freedom (7DOF) based on closed-loop feedback (CLK) technique. The DH theory is used to establish the mathematical model of the robot. Kinematic equations are built to express the relationship between the position and direction of the end-effector (EE) point in the workspace with the generalized coordinates of the joints in the joint space. The CLF algorithm is presented and used to analyze the IK problem of the robot with the input trajectory being the position of the EE point in the workspace. The analysis results of the IK problem show that the maximum position error of the last operating point reaches 3.7x10-4 mm and this value is much smaller than the length of the moving trajectory (400mm). This demonstrates the high effectiveness of the CLK algorithm for redundant systems. This algorithm can be used as a basis for dynamics and control problems for this type of system.
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