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An inverse kinematic method for non-spherical wrist 6DOF robot based on reconfigured objective function

The non-spherical 6R manipulators are widely used in many fields. However, the non-spherical structure often poses challenges in the inverse kinematics problem (IKP) for such robots. To address this challenge, transforming IKP into an optimization problem is a promising solution. Nevertheless, exist...

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Bibliographic Details
Published in:Soft computing (Berlin, Germany) Germany), 2024-04, Vol.28 (7-8), p.5937-5951
Main Authors: Sun, Ying, Mi, Leyuan, Jiang, Du, Zhang, Xiaofeng, Yun, Juntong, Liu, Ying, Huang, Li, Tao, Bo, Fang, Zifan
Format: Article
Language:English
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Summary:The non-spherical 6R manipulators are widely used in many fields. However, the non-spherical structure often poses challenges in the inverse kinematics problem (IKP) for such robots. To address this challenge, transforming IKP into an optimization problem is a promising solution. Nevertheless, existing optimization methods often entail complex computations and tend to overlook the geometric characteristics of the manipulators. In this study, we introduce a novel objective function based on a disconnect-reconnect method. Initially, based on the prior geometric knowledge of the non-spherical 6 degrees of freedom (DOF) manipulators, we employ a disconnect–reconnect strategy to decouple the kinematic equations. This process yields four nonlinear re-connection conditions equations. Subsequently, we utilize this equation to formulate a novel objective function. Then, we employ the adaptive covariance matrix evolution strategy (CMA-ES) alongside an analytical method to achieve precise solutions for the IKP. The proposed method was validated on the Comau NJ-220 manipulator. The simulation results demonstrate that the proposed effectively reduces computational complexity and enhances solution efficiency while maintaining accuracy in solving.
ISSN:1432-7643
1433-7479
DOI:10.1007/s00500-023-09392-2