Inverse Kinematics Algorithm of 7-DOF Manipulator Base on Self-motion

doi:10.3901/JME.2019.23.075

Abstract

Abstract: Aiming at the inverse kinematics problem of a typical manipulator with 7 degrees of freedom (DOF), an analytical algorithm is proposed based on characteristics of the mechanism and property of the self-motion. Firstly, the self-motion of the redundant manipulator is analyzed. It is a planar four-bar motion. The self-motion is described by the redundant angle and the influence of the location of the end-effector of the robotic manipulator and the length of the rod on the form of the self-motion is analyzed. Then based on the characteristics of the self-motion, the inverse kinematic analysis algorithm of the manipulator is obtained by separating the position and posture of end-effector and taking the redundant angle as a constraint. Finally, the numerical examples are given to prove the correctness of the algorithm of inverse kinematics. In theory, all solutions can be obtained by the method if the position and orientation of the robotics manipulator are given. Compared with the traditional numerical method, this method does not produce theoretical error and accumulation error. The position and posture point are independent of each other.

Key words: 7-DOF, self-motion, inverse kinematic, plane four-bar linkages

CLC Number:

TP242

YANG Zhiwei, CHEN Ziming, ZHAO Chen, LI Yanwen. Inverse Kinematics Algorithm of 7-DOF Manipulator Base on Self-motion[J]. Journal of Mechanical Engineering, 2019, 55(23): 75-82.

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