Analytical Inverse Kinematic Solution with Self-Motion Constraint for the 7-DOF Restore Robot Arm

被引：0
|
作者：
An, Happy H. [1 ]
Clement, William I. [2 ]
Reed, Benjamin [3 ]
机构：
[1] Orbital Sci Corp, Greenbelt, MD 20771 USA
[2] Clement Engn, Arnold, MD 21012 USA
[3] NASAs Goddard Space Flight Ctr, Greenbelt, MD 20771 USA
来源：
2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年
关键词：
7-DOF redundant robot arm; SEW inverse kinematics; self-motion; singularities; MANIPULATORS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents an analytical inverse kinematic (IK) solution for the seven degree-of-freedom (7-DOF) "Restore" robot arm with non-zero joint offsets. We provide two closed-form solutions - the shoulder-elbow-wrist (SEW) IK and the theta(1)-based solution. Both allow self-motion and together they solve the problem of algorithmic singularities within the workspace. Non-zero link offsets require careful selection of shoulder, elbow, and wrist locations. The solution is simple, fast and exact, providing full solution space (i.e. all eight solutions) per pose.
引用
收藏
页码：1325 / 1330
页数：6
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