Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

Abstract

The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save the dynamic control accuracy of the working tools of serial manipulators when they move along arbitrary spatial trajectories, taking into account restrictions in all degrees of freedom and special cases of their link positions. The maintenance of the control accuracy could be ensured by eliminating the reach of all degrees of freedom of manipulators to their limits and to indicated special positions, characterized by an ambiguity when solving the inverse kinematic problems of various serial manipulators. This is in addition to preventing the reach of their working tools to the boundaries of the working area due to the use of a redundant degree of freedom when approaching the indicated undesirable positions. The experimental studies performed in this paper confirm the efficiency of the proposed method and allow accurate characteristics to be obtained.

Keywords

• serial manipulator
• redundant degree of freedom
• restrictions
• singular position
• inverse kinematics