Inverse kinematics and planning/control co-design method of redundant manipulator for precision operation: Design and experiments

Abstract

In this paper, we proposed two novel algorithms to improve the operating accuracy and operating efficiency of the 7-DoF redundant manipulator. Firstly, an improved adaptive particle swarm optimization (APSO) algorithm is proposed to improve the solution precision and solution speed of the inverse kinematics of the 7-DoF redundant manipulator by introducing the probability transfer mechanism and the quality evaluation criterion. Meanwhile, the velocity directional manipulability measure (VDM) is introduced as an optimization index to search for the singular-free configuration with the optimal motion performance. Then, in order to further improve the execution efficiency and stability of the 7-DoF redundant manipulator, a novel planning/control co-design (PCC) algorithm is proposed based on the Dynamic Movement Primitives (DMPs-PCC), which ensures that the motion planner and actuator of the 7-DoF redundant manipulator can work synchronously, while optimizing the velocity and acceleration profiles of each joint of the manipulator in the operating process. Finally, an experimental platform is established based on the Robot Operating System (ROS), and the effectiveness and reliability of the two novel algorithms are demonstrated by the simulations and prototype experiments.