This paper studies the inverse kinematics (IKs) of a space robot with a controlled-floating base. Different from the traditional space robot which has a free-floating base, the momentum conservation is no longer satisfied so that the degrees-of-freedom (DOFs) and redundancy of the robot obviously increase, and motion limits exist for both base and manipulator. To deal with such a problem, a gradient projection of weighted Jacobian matrix (GPWJM) method is proposed. The Jacobian matrix is derived considering the additional DOFs of the base, and the trajectory tracking by the end-effector is chosen as the main task. A clamping weighted least norm scheme is introduced into the derived Jacobian matrix to avoid the motion limits, and the singular-robustness is enhanced by the damping least-squares. The convergence and accuracy analysis indicates the calculation of damping factor; while the verification of motion limits avoidance indicates the inequality constraint of clamping velocity. Finally, the effectiveness of the proposed GPWJM method is investigated by the numerical simulation in which a planar 3DOF manipulator on a 3DOF base is taken as a demo.
Gradient Projection of Weighted Jacobian Matrix Method for Inverse Kinematics of a Space Robot With a Controlled-Floating Base
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 5, 2016; final manuscript received November 23, 2016; published online March 22, 2017. Assoc. Editor: Yongchun Fang.
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Hu, T., Wang, T., Li, J., and Qian, W. (March 22, 2017). "Gradient Projection of Weighted Jacobian Matrix Method for Inverse Kinematics of a Space Robot With a Controlled-Floating Base." ASME. J. Dyn. Sys., Meas., Control. May 2017; 139(5): 051013. https://doi.org/10.1115/1.4035398
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