Optimization of Robot Inverse Kinematics based on the Multi-joint-drive Speed Coordinated Energy Consumption Method

DOI

10.2991/amcce-18.2018.11How to use a DOI?

Keywords

Inverse kinematics, energy consumption analysis, multi-joint-drive speed coordinated (MSC), MATLAB simulation

Abstract

For the cascade five-degree-of-freedom inchworm-imitating bipedal climbing robot body mechanism, multiple kinematic inverse solutions maybe generated due to redundancy in the D-H kinematics modeling process. Therefore, an optimal kinematic inverse solution selection method based on energy consumption is proposed. This method studies the driving load or robot joints first, and works out the static load energy consumption function between gaits with the static load simplification method. Then, it carries out coordinated control of the cascade robot joint driving speed to obtain the joint's rotational angular velocity function, which is substituted into the parameter to work out the energy consumption corresponding to the multiple inverse solutions. The optimal inverse kinematics solution is screened with minimal energy consumption. Finally, the rationality and effectiveness of the inverse kinematics optimization solution method are verified through MATLAB simulation analysis.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Enlei Chen
AU  - Changjun Liu
PY  - 2018/05
DA  - 2018/05
TI  - Optimization of Robot Inverse Kinematics based on the Multi-joint-drive Speed Coordinated Energy Consumption Method
BT  - Proceedings of the 2018 3rd International Conference on Automation, Mechanical Control and Computational Engineering (AMCCE 2018)
PB  - Atlantis Press
SP  - 62
EP  - 65
SN  - 2352-5401
UR  - https://doi.org/10.2991/amcce-18.2018.11
DO  - 10.2991/amcce-18.2018.11
ID  - Chen2018/05
ER  -