The CCD-Algebraic Algorithm to solve the inverse kinematic and control the rotation of 6-DOF redundant manipulator in three spatial dimensions

Abstract

This paper presents a new method to solve the inverse kinematics problem of a hyper-redundant manipulator. Redundant resolution is a critical problem in the control of robotic manipulators. Forward kinematics of the 6 DOF redundant manipulator has been performed through Denevit and Hartenberg method. This article identifies a limitation of the existing CCD solution for solving inverse kinematics, i.e., the uncontrollable direction of the end effector. A new algorithm based on the cyclic coordinate descent (CCD) and named CCD-Algebraic is proposed to handle this drawback and solve inverse kinematic. The end-effector’s position is wholly managed with the cyclic coordinate descent (CCD), but it is adapted to uncontrollable rotation trajectories. With CCD-Algebraic, a rotation matrix of end-effector is attached to the position matrix of a lower hierarchical joint. Precisely, the position of the joint will determine both of position and rotation of the higher hierarchical joint. The proposed approach is applied in a three-dimensional (3D) space and can deal with many degrees of freedom. In addition, it has been used to perform continuous trajectories in MATLAB SIMULINK. Simulation results verify the strength of the proposal algorithm – simple, precise, and computationally efficient.