Optimization of Robot Inverse Kinematics based on the Multi-joint-drive Speed Coordinated Energy Consumption Method
- 10.2991/amcce-18.2018.11How to use a DOI?
- Inverse kinematics, energy consumption analysis, multi-joint-drive speed coordinated (MSC), MATLAB simulation
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.
- © 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/).
Cite this article
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 -