A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator
Guoli Song, Shun Su, Yingli Li, Xingang Zhao, Huibin Du, Jianda Han, Yiwen Zhao
Abstract
SUMMARY The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because it has an infinite number of solutions. This paper uses a new numerical sequence processing method with a closed-loop framework to solve the inverse kinematics of the 7-DOF redundant manipulator. Simulation and experiment show that this method has high commonality. No special structure of the robot is required, and this method has improved computational efficiency and reliability.
Topics & Concepts
Inverse kinematicsKinematicsDegrees of freedom (physics and chemistry)Control theory (sociology)SingularityParallel manipulatorObstacleFlexibility (engineering)Computer scienceInverseManipulator (device)Kinematics equationsControl engineeringRobotRobot kinematicsMathematicsEngineeringArtificial intelligenceControl (management)GeometryPhysicsMobile robotQuantum mechanicsPolitical scienceStatisticsLawClassical mechanicsRobotic Mechanisms and DynamicsAdvanced Vision and ImagingIterative Learning Control Systems