Our overall research interest is in synthesizing human like reaching and grasping using anthropomorphic robot hand-arm systems, as well as understanding the principles underlying human control of these actions. When one needs to define the control and task requirements in the Cartesian space, the problem of inverse kinematics needs to be solved. For non-redundant manipulators, a desired end-effector position and orientation can be achieved by a finite number of solutions. For redundant manipulators however, there are in general infinitely many solutions where the cardinality of the solution set must be made finite by imposing certain constraints. In this paper, we consider the Mitsubishi PA10 manipulator which is similar to the human arm, in the sense that both wrist and shoulder joints can be considered to emulate a 3DOF ball joint. We explicitly derive the analytic solution for the inverse kinematics using quaternions. Then, we derive a parameterization in terms of a pure quaternion called the swivel quaternion. The swivel quaternion is similar to the elbow swivel angle used in most approaches, but avoid the computation of inverse trigonometric functions. This parameterization of the self-motion manifold is continuous with any end-effector motion. Given the pose of the end-effector and the swivel quaternion (or swivel angle), the algorithm derives all solution of the inverse kinematics (finite number). We then show how the parameterization of the elbow self-motion can be used for the real-time control of the PA10 manipulator in the presence of obstacles.
Skip Nav Destination
ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Redundancy Parameterization for Flexible Motion Control Available to Purchase
B. Moore
ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan
E. Oztop
ATR Computational Neuroscience Laboratories; NICT Biological ICT Group, Seika, Kyoto, Japan
Paper No:
DETC2010-28387, pp. 1309-1316; 8 pages
Published Online:
March 8, 2011
Citation
Moore, B, & Oztop, E. "Redundancy Parameterization for Flexible Motion Control." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 1309-1316. ASME. https://doi.org/10.1115/DETC2010-28387
Download citation file:
12
Views
Related Proceedings Papers
Related Articles
Redundancy Resolution Using Tractrix—Simulations and Experiments
J. Mechanisms Robotics (August,2010)
Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System
J. Mechanisms Robotics (May,2025)
Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics
J. Mechanisms Robotics (June,2024)
Related Chapters
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution