Complete framework of jerk-level inverse-free solutions to inverse kinematics of redundant robot manipulators

摘要: By applying the gradient dynamics (GD) and Zhang (ZD) to motion planning control for redundant robot manipulators at joint-jerk level, three novel types of inverse-free solutions, namely Z2G1 type, Z1G2 type Z0G3 are thus proposed, developed investigated in this paper. These solutions only need calculate transpose Jacobian matrix rather than complex pseudo-inverse matrix, more efficiently resolving complicated time-varying inverse-kinematics (IK) problem manipulators. Besides, path-tracking applications based on a 4-link manipulator show that manipulator's is pretty smooth, fully illustrating effectiveness, accuracy superiority such solutions. Moreover, it first time researchers propose relatively complete solution framework level. The proposed approaches can provide effective different levels (e.g., joint-velocity, joint-acceleration levels), having wider application range also obtaining perfect tracking performance