An Analytical Solution for the Inverse Kinematics of a Redundant 7DoF Manipulator with Link Offsets

被引：56

作者：

Singh, Giresh K. ^{[2
]}

Claassens, Jonathan ^{[1
]}

机构：

[1] CSIR, Mobile Itelligent Autonomous Syst, Pretoria, South Africa

[2] CSIR, Flight Mech & Control Div, Natl Aerosp Lab, Bangalore, Karnataka, India

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

D O I：

10.1109/IROS.2010.5649095

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector pose and is discussed in the paper. A parametric solution for all possible geometric poses is generated for a desired end-effector pose ( position and orientation). The set of possible geometric poses are completely defined by three circles in the Cartesian space. A method of computing the joint-variables for any geometric pose is presented. An analytical method of identifying a set of feasible poses for some joint-angle constraints is also addressed.

引用

页码：2976 / 2982

页数：7