Closed-Loop Inverse Kinematic Analysis of Redundant Manipulators with Joint Limits

Aiming at a special hydraulic manipulator with redundancy, a series of inverse kinematics analysis combined are carried out, taking full account of the possible singular configuration and joint limits. The introduction of the damped least squares method improved the priority of joint rates in the solving process and resolved the problem about singularity. The closed loop inverse kinematics is introduced to guarantee the tracking precision. Through simulation based on MATLAB, whether the trajectory is a straight line or a sinusoidal curve, it all had good results. The simulation results showed that the method could be effective to solve the reliability optimization solution for 7-DOF hydraulic manipulator with redundancy. The experiment results showed the kinematic algorithm could meet the real-time requirements of general robot control system.