Analytical Inverse Kinematics for 7 DOF Redundant Manipulators with Joint Limits

Autor:	Hiromu Kakuya, Kazuhiro Kosuge, Kosei Kitagaki, Woo-Keun Yoon, Masayuki Shimizu
Rok vydání:	2007
Předmět:	Computer Science::Robotics Engineering Inverse kinematics Control theory business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Redundancy (engineering) Inverse Kinematics Manipulator business Joint (geology) ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	Journal of the Robotics Society of Japan. 25:606-617
ISSN:	1884-7145 0289-1824
DOI:	10.7210/jrsj.25.606
Popis:	This paper addresses the inverse kinematic problem for 7 DOF anthropomorphic manipulators with joint limits. Specifically, the paper analyzes how the joint limits restrict the redundancy to develop practical inverse kinematic resolutions under the joint limits. First, the manipulator model considered in this paper is provided. Second, how to solve the inverse kinematics of the redundant manipulator is described. Third, how joint limits affect the inverse kinematic solutions is investigated. Forth, several suggestions for resolving redundancy under the joint limits are presented. Lastly, the effectiveness of the redundancy resolutions is illustrated by simulation results.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::5d698e13bc3ef8cb2a27c6d52d4771b8 https://doi.org/10.7210/jrsj.25.606 Zobrazit plný text záznamu