Acceleration-level Z2G0 controller for redundant manipulator end-effector tracking

摘要

The forward kinematics for robotic manipulators has a mathematically analytical form, while the inverse-kinematics problem is mathematically complicated. There are many methods to solve the inverse-kinematics problem; such as the conventional pseudo-inverse based method, which is general but has some problems and limitations. Therefore, it is worth investigating the solution of the inverse-kinematics problem using dynamic methods. Based on previous researches, the dynamic methods consist of Zhang dynamics (ZD) and gradient dynamics (GD). In this paper, by using ZD twice and not using GD, a controller named Z2G0 is investigated for resolving the redundancy of robot manipulators. As one typical application of ZD, the Z2G0 controller is developed at the joint-acceleration level. Furthermore, simulations based on four-link and six-link redundant manipulators are performed to substantiate the feasibility and effectiveness of the developed Z2G0 controller.