Arm Angle Parameterized Inverse Kinematics Solution of A 7-DOF Redundant Manipulator Based on Conformal Geometric Algebra

doi:10.3901/JME.2023.23.068

Abstract

Abstract: Based on conformal geometric algebra (CGA), an arm angle parameterized method for solving the inverse kinematic analysis of 7-degree-of-freedom (DOF) manipulators with SRS type (S: spherical joint, R: revolute joint) is proposed. Firstly, according to the arm angle parameterized, under the frame of conformal geometric algebra, in terms with the representations of the basic geometric elements such as points, lines, surfaces, spheres and points pairs, joint positions are obtained. Next, by constructing lines or planes passing through joints, using the inner product between the constructed lines or planes, the cosine expressions of seven joint angles are represented, and hence 16 analytical solutions for the inverse kinematics are obtained. Finally, a Kinova Jaco2 7-DOF manipulator is taken as an example and the corresponding 3D configurations based on SolidWorks are provided to verify the correctness of the method. The results show that the proposed method has the characteristics of the intrinsic geometric intuition and the concise computation, which provides a new sight for the inverse kinematic analysis of other 7-DOF manipulators.

Key words: 7-DOF redundant manipulators, inverse kinematic analysis, conformal geometric algebra, arm angle parameterized, geometric intuition

CLC Number:

TH112

ZHANG Ying, FENG Zhengzheng, LI Jian, WEI Shimin, LIAO Qizheng. Arm Angle Parameterized Inverse Kinematics Solution of A 7-DOF Redundant Manipulator Based on Conformal Geometric Algebra[J]. Journal of Mechanical Engineering, 2023, 59(23): 68-75.

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