Hiromu Kakuya

Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution

This paper proposes an analytical methodology of inverse kinematic computation for 7 DOF redundant manipulators with joint limits. Specifically, the paper focuses on how to obtain all feasible inverse kinematic solutions in the global configuration space where joint movable ranges are limited. First, a closed-form inverse kinematic solution is derived based on a parameterization method. Second, how the joint limits affect the feasibility of the inverse solution is investigated to develop an analytical method for computing feasible solutions under the joint limits. Third, how to apply the method to the redundancy resolution problem is discussed and analytical methods to avoid joint limits are developed in the position domain. Lastly, the validity of the methods is verified by kinematic simulations.

Control algorithm of dual arms mobile robot for cooperative works with human

We propose a motion control algorithm for the dual arm-mobile robot MR Helper, for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object frame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results obtained illustrate the validity of the proposed algorithm.