Dexterity analysis and intelligent trajectory planning of redundant dual arms for an upper body humanoid robot

PurposeMost of the redundant dual-arm robots are singular free, dexterous and collision free compared to other robotic arms. This paper aims to analyse the workspace of redundant arms to study the manipulability. Furthermore, multi-layer perceptron (MLP) algorithm is used to determine the various jo...

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Veröffentlicht in:Industrial robot Jg. 48; H. 6; S. 915 - 928
Hauptverfasser: Sulaiman, Shifa, Sudheer, A.P.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bedford Emerald Group Publishing Limited 16.11.2021
Schlagworte:
Algorithms
Back propagation
Biomechanics
Cartesian coordinates
Collision avoidance
Collisions
Computational geometry
Computing time
Controllers
Convex analysis
Convexity
Genetic algorithms
Humanoid
Kinematic equations
Kinematics
Machine learning
Multilayers
Neural networks
Optimization
Optimization techniques
Redundancy
Robot arms
Robotics
Robots
Screw theory
Trajectory analysis
Trajectory planning
Workspace
ISSN:0143-991X, 1758-5791
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Zusammenfassung:PurposeMost of the redundant dual-arm robots are singular free, dexterous and collision free compared to other robotic arms. This paper aims to analyse the workspace of redundant arms to study the manipulability. Furthermore, multi-layer perceptron (MLP) algorithm is used to determine the various joint parameters of both the upper body redundant arms. Trajectory planning of robotic arms is carried out with the help of inverse solutions obtained from the MLP algorithm.Design/methodology/approachIn this paper, the kinematic equations are derived from screw theory approach and inverse kinematic solutions are determined using MLP algorithm. Levenberg–Marquardt (LM) and Bayesian regulation (BR) techniques are used as the backpropagation algorithms. The results from two backpropagation techniques are compared for determining the prediction accuracy. The inverse solutions obtained from the MLP algorithm are then used to optimize the cubic spline trajectories planned for avoiding collision between arms with the help of convex optimization technique. The dexterity of the redundant arms is analysed with the help of Cartesian workspace of arms.FindingsDexterity of redundant arms is analysed by studying the voids and singular spaces present inside the workspace of arms. MLP algorithms determine unique solutions with less computational effort using BR backpropagation. The inverse solutions obtained from MLP algorithm effectively optimize the cubic spline trajectory for the redundant dual arms using convex optimization technique.Originality/valueMost of the MLP algorithms used for determining the inverse solutions are used with LM backpropagation technique. In this paper, BR technique is used as the backpropagation technique. BR technique converges fast with less computational time than LM method. The inverse solutions of arm joints for traversing optimized cubic spline trajectory using convex optimization technique are computed from the MLP algorithm.
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ISSN:0143-991X
1758-5791
DOI:10.1108/IR-12-2020-0279