A Model-free Redundancy Resolution Technique for Visual Motor Coordination of a 6 DOF robot manipulator

S. Kumar, Amit Shukla, A. Dutta, L. Behera
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引用次数: 10

Abstract

In this paper, visual motor coordination of a 6 DOF robot manipulator is considered. It is difficult to analytically derive inverse kinematic relationships for such manipulators. The problem becomes more challenging owing to the presence of multiple solutions for the inverse-kinematic relationship between robot end-effector position and joint angle vector. Many of the current redundancy resolution techniques necessitate explicit orientation information which cannot be obtained from visual feedback. Hence such techniques cannot be used for visual motor coordination of redundant manipulators. In this paper, it is demonstrated that a feasible inverse kinematic solution may be obtained by using input-output space clustering along with the KSOM algorithm. The method is innovative in the sense that it does not require any orientation information for resolving redundancy and it is model-independent. The efficacy of the proposed method is illustrated through simulations on a 6 DOF PUMA 560 manipulator model.
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六自由度机械臂视觉运动协调的无模型冗余解析技术
本文研究了六自由度机械臂的视觉运动协调问题。这类机械臂的运动学逆关系很难解析推导。由于机器人末端执行器位置与关节角度矢量之间的逆运动学关系存在多个解,使得该问题更具挑战性。当前的许多冗余分辨率技术都需要明确的方向信息,而这些信息无法从视觉反馈中获得。因此,这种技术不能用于冗余机械手的视觉运动协调。本文证明了利用输入-输出空间聚类和KSOM算法可以得到一个可行的逆运动学解。该方法的创新之处在于它不需要任何方向信息来解决冗余,并且是模型无关的。通过对puma560 6自由度机械臂模型的仿真验证了该方法的有效性。
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