Joint Constrained Differential Inverse Kinematics Algorithm for Serial Manipulators

• DOI: 10.3311/ppee.7163
• Publication Date: 2013-12-05T10:08:16Z
• Authors: Dániel András Dre...; István Harmati
• Keywords: Forward kinematics

This paper presents a methodology for avoiding joint limits of robot manipulators in the solution differential inverse kinematics problem. A nonlinear transformation is applied to limits, leading new formulation defined space transformed variables. The introduced ensures that variables stay between limits. Optimality conditions are converted into space, and closed-loop applied. effectiveness method demonstrated on simulational example.