An Analytical Solution for a Redundant Manipulator with Seven Degrees of Freedom

International Journal of Automation and Smart Technology

Takashi Nammoto¹  Kazuhiro Kosuge¹ 

[1] Department of Bioengineering and Robotics, Tohoku University;

关键词: Redundant Manipulator;    Inverse Kinematics;    Joint Limit;    Singularity;   

DOI  :  10.5875/ausmt.v2i4.172

来源: DOAJ

【 摘 要 】

In this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipulator joint angles are obtained at once. Avoidance of singularities and obstacles is illustrated by simulation results.

【 授权许可】

Unknown