{"title":"An analytical solution of inverse kinematics for a 7-DOF redundant manipulator","authors":"Bao-Chang Chen, G. Cao, Wen-Bo Li, Jun-Di Sun, Su-Dan Huang, Jiang Zeng","doi":"10.1109/URAI.2018.8441903","DOIUrl":null,"url":null,"abstract":"A 7-degrees of freedom (7-DOF) redundant manipulator has ability of avoiding obstacle/singularity, and thus improving operational performance. However, its inverse kinematics is difficult to solve since it has one more DOF than that of necessary for reaching the whole work space. In this paper, a geometric method is proposed to solve the inverse kinematics. First, Denavit- Hartenberg model for the manipulator is established and its self-motion is analyzed. Second, an analytical solution for the manipulator is derived. Finally, MATLAB simulation results are given to verify this method precise and feasible.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 15th International Conference on Ubiquitous Robots (UR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/URAI.2018.8441903","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
A 7-degrees of freedom (7-DOF) redundant manipulator has ability of avoiding obstacle/singularity, and thus improving operational performance. However, its inverse kinematics is difficult to solve since it has one more DOF than that of necessary for reaching the whole work space. In this paper, a geometric method is proposed to solve the inverse kinematics. First, Denavit- Hartenberg model for the manipulator is established and its self-motion is analyzed. Second, an analytical solution for the manipulator is derived. Finally, MATLAB simulation results are given to verify this method precise and feasible.
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