A Closed-Loop Framework for Inverse Kinematics of the 7-DOF Manipulator

被引：0
|
作者：
Du, Huibin [1 ,2 ]
Zhao, Yiwen [1 ]
Li, Xiaoguang [1 ,2 ]
Han, Jianda [1 ]
Wang, Zheng [1 ]
Song, Guoli [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China
[2] Univ Chinese Acad Sci, Beijing, Peoples R China
来源：
PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE) | 2016年
关键词：
7-DOF manipulator; inverse kinematics; closed-loop framework;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The 7-DOF redundant manipulator in greatly improves the obstacle/singularity avoidance capability and operational flexibility. Meanwhile, its inverse kinematics problem would be much difficult since 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. Simulations show that this method has high commonality, no special structure of robot required, and also has improved computational efficiency and reliability.
引用
收藏
页码：237 / 241
页数：5
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