Inverse-free scheme of G1 type to velocity-level inverse kinematics of redundant robot manipulators

Abstract

With the superiority of owning more degrees of freedom than ordinary robot manipulators, redundant robot manipulators have gotten much attention in recent years. In order to control the trajectory of the robot end-effector with a desired velocity, it is very popular to apply the inverse kinematics approaches, such as pseudo-inverse scheme. However, calculating the inverse of Jacobian matrix requires a lot of time. Thus base on gradient neural dynamics (GND), an inverse-free scheme is proposed at the joint-velocity level. The scheme is named G1 type as it uses GND once. In addition, two path tracking simulations based on five-link and six-link redundant robot manipulators illustrate the efficiency and the accuracy of the proposed scheme. What is more, the physical realizability of G1 type scheme is also verified by a physical experiment based on the six-link planar redundant robot manipulator hardware system.