A Solution of the Inverse Kinematics Problem for a 7-Degrees-of-Freedom Serial Redundant Manipulator Using Gröbner Bases Theory
| Autor: | Sérgio Ricardo Xavier da Silva, Leizer Schnitman, Vitalino Cesca Filho |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Operational performance Inverse kinematics Article Subject Computer science business.industry General Mathematics Degrees of freedom General Engineering 02 engineering and technology Workspace Algebraic computing Engineering (General). Civil engineering (General) Computer Science::Robotics 020901 industrial engineering & automation Software Control theory 0202 electrical engineering electronic engineering information engineering QA1-939 020201 artificial intelligence & image processing Manipulator TA1-2040 business Mathematics |
| Zdroj: | Mathematical Problems in Engineering, Vol 2021 (2021) |
| ISSN: | 1563-5147 |
| Popis: | This article presents a solution of the inverse kinematics problem of 7-degrees-of-freedom serial redundant manipulators. A 7-degrees-of-freedom (7-DoF) redundant manipulator can avoid obstacles and thus improve operational performance. However, its inverse kinematics is difficult to solve since it has one more DoF than that necessary for reaching the whole workspace, which causes infinite solutions. In this article, Gröbner bases theory is proposed to solve the inverse kinematics. First, the Denavit–Hartenberg model for the manipulator is established. Second, different joint configurations are obtained using Gröbner bases theory. All solutions are confirmed with the aid of algebraic computing software, confirming that this method is accurate and easy to be implemented. |
| Databáze: | OpenAIRE |
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