Method of inverse kinematics solution for a redundant manipulator based on manipulability

被引：0

作者：

Duan, Jinjun ^{[1
,2
]}

Gan, Yahui ^{[1
,2
]}

Dai, Xianzhong ^{[1
,2
]}

Xu, Xiang ^{[1
,2
]}

Cao, Pengfei ^{[1
,2
]}

机构：

[1] School of Automation, Ministry of Education, Nanjing

[2] Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2015年 / 43卷

关键词：

7 degree of freedom (DOF); Geometrical method; Humanoid manipulator; Inverse kinematics; Manipulability;

D O I：

10.13245/j.hust.15S1011

中图分类号：

学科分类号：

摘要：

In order to solve the infinitely many solutions of the 7 degree of freedom (DOF) humanoid manipulator inverse kinematics, a practical inverse kinematics solution using the geometrical method based on manipulability was proposed. Based on the special structure and its characteristics of self-motion, the swivel of the elbow was not unique, manipulability criterion was used to determine the swivel angle, once the swivel angle was determinated, the inverse kinematics can be easily solved by the geometrical method. This method is applied to a dual anthropomorphic arm robot YASKAWA SDA10D, the result shows that there is no theoretical error but a sufficiently fast solving speed. It is propitious for the online real-time kinetic control of the manipulator. ©, 2015, Huazhong University of Science and Technology. All right reserved.

引用

页码：45 / 48and57

页数：4812

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