Computer-aided optimization in the inverse kinematics of redundant robot

Qianpeng Han; Qiang Zhan

Computer-aided optimization in the inverse kinematics of redundant robot

Qianpeng Han^*
, Qiang Zhan

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3_DOF (Degree of Freedom) robot and a 7_DOF module robot.

Original language	English
Title of host publication	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003
Editors	H. Yang, L. Qiao, I.-S. Fan
Pages	125-128
Number of pages	4
State	Published - 2003
Event	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003 - Beijing, China Duration: 4 Dec 2003 → 6 Dec 2003

Publication series

Name	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

Conference

Conference	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003
Country/Territory	China
City	Beijing
Period	4/12/03 → 6/12/03

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Algorithm
Computer aid optimization
Inverse kinematics
Jacobian matrix
Pseudoinverse
Redundant robot

Cite this

Han, Q., & Zhan, Q. (2003). Computer-aided optimization in the inverse kinematics of redundant robot. In H. Yang, L. Qiao, & I.-S. Fan (Eds.), Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003 (pp. 125-128). (Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003).

Han, Qianpeng ; Zhan, Qiang. / Computer-aided optimization in the inverse kinematics of redundant robot. Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003. editor / H. Yang ; L. Qiao ; I.-S. Fan. 2003. pp. 125-128 (Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003).

@inproceedings{2e1904d322ce41428706348b53ef970e,

title = "Computer-aided optimization in the inverse kinematics of redundant robot",

abstract = "A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3\_DOF (Degree of Freedom) robot and a 7\_DOF module robot.",

keywords = "Algorithm, Computer aid optimization, Inverse kinematics, Jacobian matrix, Pseudoinverse, Redundant robot",

author = "Qianpeng Han and Qiang Zhan",

year = "2003",

language = "英语",

isbn = "7111133951",

series = "Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003",

pages = "125--128",

editor = "H. Yang and L. Qiao and I.-S. Fan",

booktitle = "Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003",

note = "Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003 ; Conference date: 04-12-2003 Through 06-12-2003",

}

Han, Q & Zhan, Q 2003, Computer-aided optimization in the inverse kinematics of redundant robot. in H Yang, L Qiao & I-S Fan (eds), Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003. Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003, pp. 125-128, Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003, Beijing, China, 4/12/03.

Computer-aided optimization in the inverse kinematics of redundant robot. / Han, Qianpeng; Zhan, Qiang.
Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003. ed. / H. Yang; L. Qiao; I.-S. Fan. 2003. p. 125-128 (Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Computer-aided optimization in the inverse kinematics of redundant robot

AU - Han, Qianpeng

AU - Zhan, Qiang

PY - 2003

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N2 - A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3_DOF (Degree of Freedom) robot and a 7_DOF module robot.

AB - A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3_DOF (Degree of Freedom) robot and a 7_DOF module robot.

KW - Algorithm

KW - Computer aid optimization

KW - Inverse kinematics

KW - Jacobian matrix

KW - Pseudoinverse

KW - Redundant robot

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M3 - 会议稿件

AN - SCOPUS:1842558818

SN - 7111133951

T3 - Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

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BT - Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

A2 - Yang, H.

A2 - Qiao, L.

A2 - Fan, I.-S.

T2 - Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

Y2 - 4 December 2003 through 6 December 2003

ER -

Computer-aided optimization in the inverse kinematics of redundant robot

Abstract

Publication series

Conference

UN SDGs

Keywords

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