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The inverse kinematics of redundant manipulators must avoid joint limits to ensure solutions comply with the actual physical constraints. Conventional based on differential kinematicsbased methods typically consider only local instantaneous states and cannot guarantee that the joints remain within the physical limits throughout continuous motion. To address this issue, this paper proposes an inverse kinematics method for redundant manipulators based on model predictive control. By combining the null space parameterization of the Jacobian matrix, the proposed method effectively accounts for the future evolution of the system’s kinematic states and constraints. The constraints and optimization objective functions are designed to handle joint limits. The inverse kinematics problem is transformed into a constrained optimization problem, where redundancy is fully exploited to avoid joint limits. Furthermore, to ensure the feasibility of the optimization problem, a task scaling method is introduced to handle violations of constraints by the end-effector velocity. Simulation results on a 7-DOF redundant manipulator demonstrate that, compared with benchmark methods, the proposed method can predict and avoid potential joint limit violations while accurately tracking the target trajectory of the end-effector.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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