Research on Kinematics Solution of 7-axis Redundant Robot Based on Self-motion

被引：2

作者：

Zhou, Songgang ^{[1
]}

Liu, Hui ^{[1
]}

Jiang, Congrang ^{[2
]}

Du, Haibo ^{[1
]}

Gan, Yahui ^{[3
]}

Chu, Zhaobi ^{[1
]}

机构：

[1] Hefei Univ Technol, Sch Elect Engn & Automat, Hefei, Peoples R China

[2] Shanghai Inst Space Power Sources, Shanghai 200245, Peoples R China

[3] Southeast Univ, Sch Automat, Nanjing, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

基金：

中国国家自然科学基金;

关键词：

7-DOF redundant robot; Inverse kinematics; Self-motion; Redundancy parameter; MANIPULATORS;

D O I：

10.1109/CAC51589.2020.9327585

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the traditional numerical method based on the Jacobian matrix optimal solution to solve the seven-axis manipulator, there is a large amount of calculation and only a single solution can be solved. Based on the structure of the seven-axis redundant manipulator and its self-motion characteristics, an analytical method for the inverse kinematics calculation of the seven-axis redundant manipulator is proposed. The standard DH method is used to establish the kinematics model of the manipulator, the arm angle is defined as the redundancy parameter and the target pose matrix is 7-dimensional constraints, and the inverse kinematics analytical solution of the seven-axis manipulator is derived; the 3D model of the manipulator is established in matlab The inverse kinematics solution and self-motion simulation are performed to verify the effectiveness of the algorithm.

引用

页码：2622 / 2627

页数：6

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