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Kinematic Model and Redundant Space Analysis of 4-DOF Redundant Robot

Author

Listed:
  • Yu Li

    (School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China)

  • Liang Wang

    (School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China)

Abstract

The kinematics and redundant space analysis of redundant robots constitutes important research content. Currently, methods such as geometric method and iterative optimization method are relatively complicated and inconvenient for programming and practical control applications. Moreover, little research has been conducted on redundant space analysis. This paper takes the 4-DOF PowerCube redundant robot as the research object. The forward and inverse kinematics equation of the robot are established based on the D-H matrix method, projection and cosine theorem method, and vector coordinate method. Then, the redundant space of the robot is obtained and the redundant space range of the robot is analyzed. Finally, the simulation of kinematic and redundant space research is conducted. It is shown that the change of each joint angle of the robot is smooth without mutation, so it can ensure the stable motion of the robot. Additionally, the different position and redundant variable have a big influence on robotic configuration. The calculation amount is relatively small and convenient for programming application, and the path calculation data of the joints are obtained, which are conducive to the motion control of modular robots. The method used in this paper can be extended to the multi-DOF redundant robot. Finally, the motion optimization, control, and obstacle-avoidance of redundant robots are briefly studied. The results of this paper provide an important basis for these aspects of research.

Suggested Citation

  • Yu Li & Liang Wang, 2022. "Kinematic Model and Redundant Space Analysis of 4-DOF Redundant Robot," Mathematics, MDPI, vol. 10(4), pages 1-17, February.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:4:p:574-:d:747749
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    References listed on IDEAS

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    1. Luis Arturo Soriano & José de Jesús Rubio & Eduardo Orozco & Daniel Andres Cordova & Genaro Ochoa & Ricardo Balcazar & David Ricardo Cruz & Jesus Alberto Meda-Campaña & Alejandro Zacarias & Guadalupe , 2021. "Optimization of Sliding Mode Control to Save Energy in a SCARA Robot," Mathematics, MDPI, vol. 9(24), pages 1-16, December.
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