Inverse Kinematics Resolution Method for Arm Angle Parameterized Redundant Robotic Arm Based on Minimum Motion Transformation

doi:10.3901/JME.2023.15.040

Abstract

Abstract: The traditional arm angle parameterization method has the problem of algorithm singularity in solving the inverse kinematics problem of a seven-axis redundant robotic arm, which is generally solved by special treatment of singular cases or adding redundant parameters. To solve this problem, a novel inverse kinematics solution algorithm is proposed, which redefines the arm angle parameters based on the minimum motion transformation model. Given the target configuration to be solved, the reference configuration of the seven-axis robotic arm is defined, and a two-stage minimum motion transformation model from the reference configuration to the target configuration is established. According to the two-stage motion transformation model of reference-angle motion and arm angle self-motion, the position of the shoulder, elbow, and wrist joint points corresponding to the reference arm plane and specific arm angle parameter is solved. The analytical formula of each joint angle concerning the arm angle parameter is solved according to the geometric relationship. The inverse simulation experiment verifies the algorithm, and the results show that the algorithm has good results in solving accuracy, calculation efficiency, and algorithm stability, which proves the effectiveness of the algorithm.

Key words: redundant manipulator, inverse kinematics, arm angle parameterized method, minimum motion transformation model

CLC Number:

TP242

ZHONG Xianyou, WANG Helin, LIU Chengju, CHEN Qijun. Inverse Kinematics Resolution Method for Arm Angle Parameterized Redundant Robotic Arm Based on Minimum Motion Transformation[J]. Journal of Mechanical Engineering, 2023, 59(15): 40-49.

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