Analytical inverse kinematic computation for anthropomorphic manipulator based on human-like motion optimization and maximum reachable region optimization

This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.