Abstract
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.
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Acknowledgements
This work was supported by grants of National Natural Science Foundation of China (Grant Nos. 51505349, 61733011); the Grants of Hubei Provincial Department of Education (D20191105); "The 14th Five Year Plan" Hubei Provincial advantaged characteristic disciplines (groups) project of Wuhan University of Science and Technology (2023C0401); Open Fund of Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance in China Three Gorges University (2022KJX02).
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Conceptualization, LYM, and YS; methodology, LYM, and YS; experiment, XFZ and LYM; formal analysis, BT and Y.; investigation, ALL; writing original draft preparation, LYM and JTY; review and editing, ALL; visualization, LYM; supervision, YS. All authors have read and agreed to the published version of the manuscript.
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Sun, Y., Mi, L., Jiang, D. et al. An inverse kinematic method for non-spherical wrist 6DOF robot based on reconfigured objective function. Soft Comput 28, 5937–5951 (2024). https://doi.org/10.1007/s00500-023-09392-2
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DOI: https://doi.org/10.1007/s00500-023-09392-2